2. Main lab. representatives UH : L. Cañamero, D. Polani, R. te Boekhorst CNRS: J. Nadel, S. Dubal, P. Fossati U. Cergy Pontoise: P. Gaussier, P. Andry,… EPFL : A. Billard, S. Calinon Univ. Portsmouth: K. Bard, S. Vick ICCS: S. Kollias, K. Karpouzis, A. Raouzaiou ER: H. Lund Aldebaran: B. Maisonnier, F. Bardinet

3. Interdisciplinary work J. Nadel (humans), K. Bard (primates)

4. Recent humanoid robots Cog (R. Brooks MIT) Infanoid (I. Kosima NICT) (G. Cheng ATR) (see also Y. Kunioshy works, G. Metta ICub…)

5. How to ground it?

6. Limitations in imitation systems: No synchronisation capabilities between agents Need of an explicit reward or adhoc mechanism to decide if given sequence must be learned Need of an explicit signal to specify the beginning and the end of the expriment

7. Imitation and social interactions

8. Double function of emotions  Meta control (or second order controller)  Communication tool (in a single system!) => Capability to predict the rhythm of the exchange can be used as an internal reward

10. First example: Learning to recognize facial expressions

11. Development of facial expression recognition [Boucenna07,08] Importance of the empathy Humans do resonate to simple robot heads [Nadel06] Videos on: www.etis.ensea.fr/~neurocyber/Videos/

12. Emotional resonace to robot head [J. Nadel Team] Which are the minimal conditions for human resonance?

13. [Dubal, Nade]

14. Second example: using emotional signals for behavior modulation (learning…)

15. Affective Bonds

16. Implications for robotics

17. Emotional value of interactions Emotional resonance or contagion (bootstrap empathy) Capability to predict the rhythm of the interaction (associated to a positive reward for ex.) Imitation games (sharing emotions?)

18. Toward bidirectional interactions Rhythm prediction : positive reinforcement Incapability to predict the rhythm: negative reinforcement building of agentivity could be a consequence of first imitations not a prerequisite (developmental perspective)