For two weeks now I got to work for my master thesis without doing any additional tasks..
From the tasks I was assigned previously I learned about the latest ONI boom and also got to know NAO better.
I read some papers about what has been done lately on the "mirror test" topic and I am going to try doing something more or less related.
1. The mirror test
The mirror test, also called the mirror self-recognition test, or MSR is an experiment developed by Gordon G. Gallup.This experiment studies the reaction of animals in front of the mirror and tries to determine if they are conscious of the own presence there, if they identify the fact that in the mirror shows only the reflection.
2. State of the art
The mirror test has been proposed as a test for conscious machines - "if the machine is able to recognize itself in the mirror then the machine should be self-aware"[1]
Several implementation of this test were made on robots:
- Junichi Tackeno of Meiji University Japan builds small robots that demonstrate inner activity exposed to their mirror image or another similar robot. He states that this is a demonstration of self awareness.[2]
- Another application is developed at MIT by Fitzpatrick Arsenio and Torras-Jara on a robot called Cog. These test was developed focused on the movement of the hands of the robot and the visual field in the mirror.[3]
- Michel, Gold and Scassellati at Yale use a Nico robot and make it pass the test by using the movement in the mirror useing a time window without mapped on the movement detected in the mirror.[4]
3. Test motivation and meaning
The mirror test is not exactly intended as a general test for consciousness, but as a specific test for self-consciousness, and more exactly self-recognition. It is really hard to state that self-consciousness is achived by robots only by passing the mirror test.
Consciousness would involve other internal models that are compulsory in this matter, things like: personal history, emotional evaluation, reaction evaluation. An "mental self-image"[5] would be the key for achieving consciousness. These would mean having also a "personal history with personal needs, goals, emotional values and styles of action" .
Identification in a mirror is only a minor attribute of what it would be a conscious machine. As Haikonen states in his work[5] a conscious machine should have both a "body image" and a "mental self-image ".
As I mentioned above the goal of this project is only achieving identification in the mirror, passing the mirror test.
4. Experiment details
All the tests made until now used more or less crude data obtained from camera images.
The test case developed in this experiment tries to avoid processing crude data and uses a Kinect device for vision and as a test subject a NAO robot.
Using OpenNi and NITE the Kinect extracts the skeletons identified in the mirror. The skeleton is compared by the robot to its own movement in a time window. If the movement matches the skeleton behavior extracted from the mirror in the time window then there is a probability that the reflection is the robot's one. The procedure continues until the confidence coefficient of the tracking is sufficiently close to one.
~To be continued~
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[5]
