The design of current natural language oriented robot architectures enables certain architectural components to circumvent moral reasoning capabilities. One example of this is reflexive generation of clarification requests as soon as referential ambiguity is detected in a human utterance. As shown in previous research, this can lead robots to (1) miscommunicate their moral dispositions and (2) weaken human perception or application of moral norms within their current context. We present a solution to these problems by performing moral reasoning on each potential disambiguation of an ambiguous human utterance and responding accordingly, rather than immediately and naively requesting clarification. We implement our solution in the DIARC robot architecture, which, to our knowledge, is the only current robot architecture with both moral reasoning and clarification request generation capabilities. We then evaluate our method with a human subjects experiment, the results of which indicate that our approach successfully ameliorates the two identified concerns.

To engage in human-like dialogue, robots require the ability to describe the objects, locations, and people in their environment, a capability known as "Referring Expression Generation." As speakers repeatedly refer to similar objects, they tend to re-use properties from previous descriptions, in part to help the listener, and in part due to cognitive availability of those properties in working memory (WM). Because different theories of working memory "forgetting" necessarily lead to differences in cognitive availability, we hypothesize that they will similarly result in generation of different referring expressions. To design effective intelligent agents, it is thus necessary to determine how different models of forgetting may be differentially effective at producing natural human-like referring expressions. In this work, we computationalize two candidate models of working memory forgetting within a robot cognitive architecture, and demonstrate how they lead to cognitive availability-based differences in generated referring expressions.

For language-capable interactive robots to be effectively introduced into human society, they must be able to naturally and efficiently communicate about the objects, locations, and people found in human environments. An important aspect of natural language communication is the use of pronouns. Ac-cording to the linguistic theory of the Givenness Hierarchy(GH), humans use pronouns due to implicit assumptions about the cognitive statuses their referents have in the minds of their conversational partners. In previous work, Williams et al. presented the first computational implementation of the full GH for the purpose of robot language understanding, leveraging a set of rules informed by the GH literature. However, that approach was designed specifically for language understanding,oriented around GH-inspired memory structures used to assess what entities are candidate referents given a particular cognitive status. In contrast, language generation requires a model in which cognitive status can be assessed for a given entity. We present and compare two such models of cognitive status: a rule-based Finite State Machine model directly informed by the GH literature and a Cognitive Status Filter designed to more flexibly handle uncertainty. The models are demonstrated and evaluated using a silver-standard English subset of the OFAI Multimodal Task Description Corpus.

The ability for autonomous agents to learn and conform to human norms is crucial for their safety and effectiveness in social environments. While recent work has led to frameworks for the representation and inference of simple social rules, research into norm learning remains at an exploratory stage. Here, we present a robotic system capable of representing, learning, and inferring ownership relations and norms. Ownership is represented as a graph of probabilistic relations between objects and their owners, along with a database of predicate-based norms that constrain the actions permissible on owned objects. To learn these norms and relations, our system integrates (i) a novel incremental norm learning algorithm capable of both one-shot learning and induction from specific examples, (ii) Bayesian inference of ownership relations in response to apparent rule violations, and (iii) percept-based prediction of an object's likely owners. Through a series of simulated and real-world experiments, we demonstrate the competence and flexibility of the system in performing object manipulation tasks that require a variety of norms to be followed, laying the groundwork for future research into the acquisition and application of social norms.

Human-robot communication in situated environments involves a complex interplay between knowledge representations across a wide variety of modalities. Crucially, linguistic information must be associated with representations of objects, locations, people, and goals, which may be represented in very different ways. In previous work, we developed a Consultant Framework that facilitates modality-agnostic access to information distributed across a set of heterogeneously represented knowledge sources. In this work, we draw inspiration from cognitive science to augment these distributed knowledge sources with Short Term Memory Buffers to create an STM-augmented algorithm for referring expression generation. We then discuss the potential performance benefits of this approach and insights from cognitive science that may inform future refinements in the design of our approach.

Many human social exchanges and coordinated activities critically involve dialogue interactions. Hence, we need to develop natural humanlike dialogue-processing mechanisms for future robots if they are to interact with humans in natural ways. In this article we discuss the challenges of designing such flexible dialoguebased robotic systems. We report results from data we collected in human interaction experiments in the context of a search task and show how we can use these results to build more flexible robotic architectures that are starting to address the challenges of task-based humanlike natural language dialogues on robots. As a result, the ability of future social and service robots to interact with humans in natural ways (Scheutz et al. 2007) will critically depend on developing capabilities of humanlike dialoguebased natural language processing (NLP) in robotic architectures.

Morality is a fundamentally human trait which permeates all levels of human society, from basic etiquette and normative expectations of social groups, to formalized legal principles upheld by societies. Hence, future interactive AI systems, in particular, cognitive systems on robots deployed in human settings, will have to meet human normative expectations, for otherwise these system risk causing harm. While the interest in “machine ethics” has increased rapidly in recent years, there are only very few current efforts in the cognitive systems community to investigate moral and ethical reasoning. And there is currently no cognitive architecture that has even rudimentary moral or ethical competence, i.e., the ability to judge situations based on moral principles such as norms and values and make morally and ethically sound decisions. We hence argue for the urgent need to instill moral and ethical competence in all cognitive system intended to be employed in human social contexts.

I brace for rejection, but then the robot lets out a balooop and shimmies back and forth. This, I am to presume, means Kuri loves me too. Interacting with Kuri, a robot set to hit the market in December, is at once fascinating, delightful, and puzzling. Kuri's creators call it a "companion robot," but this is no Furby. Kuri belongs to a new class of machines that actually are intelligent, and actually make useful assistants at home.

The word "trust" pops up a lot in conversations about human-robot interactions. In recent years, it's crossed an important threshold from the philosophical fodder of sci-fi novels into real-world concern. Robots have begun to play an increasing role in life and death scenarios, from rescue missions to complex surgical procedures. But the question of trust has largely been a one-way street. Should we trust robots with our lives?

The word "trust" pops up a lot in conversations about human-robot interactions. In recent years, it's crossed an important threshold from the philosophical fodder of sci-fi novels into real-world concern. Robots have begun to play an increasing role in life and death scenarios, from rescue missions to complex surgical procedures. But the question of trust has largely been a one-way street. Should we trust robots with our lives?