Developing social action capabilities in a humanoid robot using an interaction history architecture

We present experimental results for the humanoid robot Kaspar2 engaging in a simple ldquopeekaboordquo interaction game with a human partner. The robot develops the capability to engage in the game by using its history of interactions coupled with audio and visual feedback from the interaction partner to continually generate increasingly appropriate behaviour. The robot also uses facial expressions to feedback its level of reward to the partner. The results support the hypothesis that reinforcement of time-extended experiences through interaction allows a robot to act appropriately in an interaction.