Robot Performance Scripting

This repo contains performance, personality and self-awareness scripts for controlling the Hanson Robotics Eva robot emulator. The emulator is a Blender animation of a female head. These scripts unite, in one place, a visual subsystem, a chatbot, and an expressive face capable of a wide range of emotional expressions and facial gestures.

The scripts are written in OpenCog "atomese", with the intent that this enables integration with high-level cognitive, emotional and natural language-processing functions. The scripts are in active development; new designs and design proposals are actively debated on the mailing list.

The robot emulator is a Blender animation rig. It implements a dozen facial expressions, another dozen gestures, such as blinking and winking, as well as lip animations, for lip-syncing to speech. It can be controlled through a set of ROS messages. More info about this robot is here:

• https://github.com/hansonrobotics/blender_api
• https://github.com/opencog/docker/tree/master/indigo/eva

Design Goals

The code here is intended to provide the highest-level integration of all of Eva's cognitive, language, vision, memory, personality and behavioral functions. It is meant to be the place where "everything comes together". As such, it is currently rather provisional, crude, and conceptually flawed. It is also a focus of development.

The goal is to have a robot that one can talk to, interact with, and have fun with. The robot should be smart: it should be able to recognize you, learn things about you, and remember them. It should be capable of being your friend and companion.

Current Architecture and Design

The this time, the code here integrates three subsystems:

• A visual subsystem, capable of detecting and tracking human faces visible in the room. These faces are localized in 3D space, and issued a numeric ID.

  (This needs to be replaced by a (much) better visual system.)

• A collection of "behavior tree" scripts that react to people entering and leaving the room. The scripts attempt to interact with the people who are visible, by displaying assorted facial expressions.

  (This needs to be replaced by a library of selections, as described in README-affects.md.

• A representation model of the robot self and its surroundings (namely, the human faces visible in the room). The goal of this model is two-fold:

** Allow the robot to be self-aware, and engage in natural language dialog about what it is doing.

** Enable an "action orchestrater" to manage behaviors coming from multiple sources.

Some things it currently doesn't do, but should:

• Provide much closer integration with chatbots. Currently, the chatbot infrastructure is almost completely independent of this code. That's bad, and needs to be fixed.

  Such integration is a current focus of development, but is in the alpha stages.

• Integrate superior face-tracking and face recognition tools. Right now, the face tracker is completely unable to recognize known faces.

• Have a GUI tools for editing behavior trees. This could be accomplised by using the behavior3js tool.

• Integration with OpenPsi behavior system. However, see also the affects proposal, which is almost(?) more important(?)

• Enable memory, via the OpenCog AtomSpace database. The goal here is to remember people and conversations and feelings, between power-offs and restarts. This requires changes to this repo, and also writing tools and utilities to simplify the SQL and/or file-dump management.

• Additional sensory systems and sensory inputs. A perception synthesizer to coordinate all sensory input. High priority:

++ Audio power envelope, fundamental frequency (of voice), rising/falling tone. Background audio power. Length of silent pauses. Detection of applause, laughter, load background speech, loug bangs.

++ Video-chaos: is there lots of random motion in the visual field, or are things visually settled?

• Have a much more sophisticated model of the world around it, including the humans in it. It should also have better model of itself, so that it understands its relationship to the world.

Summary of behaviors

Below is a summary of the currently scripted behaviors. Note that these were diligently hand-crafted; it is meant to be only a rough draft for a more sophisticated system that will incorporate more language functions, a better model of the world around it, and itself, a better model of emotional state, as well as automatic learning of new behaviors.

• If the scene was empty and someone arrives, Eva interacts with the new arrival. Start by showing a 'surprised' or 'excited' expression.

• If Eva is currently interacting with someone, and someone else arrives, she will either (dice-roll): glance at the newcomer or ignore them. The probability of a glance increases if she has been interacting for a while.

• If the person she is interacting with leaves, show a frustrated emotion. Frustrated emotions include: sad, confused, recoil, surprised.

• If someone else leaves, glance at that last location, or ignore the departure.

• While interacting with someone: -- Randomly display one of: happy, comprehending, engaged. -- Occasionally glance at other faces in the room. -- If the interaction has been long-running, then switch and pay attention to someone new.

• If the room is empty: -- Show bored expression (one of bored, sad, happy). -- Look around the room, seeking attention. -- If the room is still empty, yawn, blink-sleepy, and go to sleep. -- Periodically wake. Wake gestures: shake-2, shake-3, blink.

Status

This is version 0.9.1 of the scripts. All of the old Owyl behavior tree has been implemented. Some initial work towards future goals has been barely started.

The notes directory contains a copy of the original Owyl code, (in general_behavior.py, for line-by-line reference), as well as some other sketches and ideas.

Running

• Use the scripts/eva.sh file, after adjusting paths in it for your installation. Or use the below:

• Start the webcam, pi_vision, and tf2 tracking nodes as usual.

• Start the Eva blender node, as usual.

• Load the scripts shown in scripts/eva.sh

• Start the opencog face-tracking node in the face_track directory.

Unit Testing

There is a simple test driver in src/unit-test.scm. It emulates the appearance and disappearance of two faces every few seconds(!). It also emulates chat-start and chat-stop. It does not need or use the regular face-tracker or vision system nor the chatbot. If everything is working, the blender head should wake up, smile, react appropriately, and then fall asleep every 2 minutes or so. This test runs in an infinite loop.

TODO

• stage mode

• Search for and address the XXX's that appear in the various files.

• Blender currently published this:

  rostopic echo /blender_api/available_emotion_states
  data: ['irritated', 'happy', 'recoil', 'surprised', 'sad', 'confused',
  'worry', 'bored', 'engaged', 'amused', 'comprehending', 'afraid']

but we are not actually using all of these at this time ...

• Frustrated emotions are dialed down so much, they are invisible. The following seems to have no effect:

  (cog-evaluate! (DefinedPredicateNode "Show frustrated expression"))