Disney Research Pittsburgh

In this paper we introduce a simplified architecture for gated recurrent neural networks that can be used in single-pass applications, where word-spotting needs to be done in real-time and phoneme-level information is not available for training. The network operates as a self-contained block in a strictly forward-pass configuration to directly generate keyword labels.

We present a retrospective view on our experience with small groups of more than 175 children (ages 4 to 10) playing versions of a language-based game hosted by an animated character.

Our goal is to endow an interactive character with appropriate turn-taking behavior using visual, audio and contextual features.

We build turn-taking models for autonomous characters in language-based interactions with small groups of children.

We evaluated the behaviors by having children play a language-based game twice, once with a flexible host and once with an inflexible host that did not have access to the behaviors.

We examine the particular problem of identifying when each child playing an interactive game in a small group is speaking to an animated character.

We address the problem of identifying when a child playing an interactive game in a small group is speaking to an animated or robotic character versus conferring with his friend.

This paper presents a method for synthesizing motions of a humanoid robot that receives an object from a human, with focus on a natural object passing scenario where the human initiates the passing motion by moving an object towards the robot, which continuously adapts its motion to the observed human motion in real time.

This paper discusses several general ray-shooting algorithms and their applications to these problems in robotics.

In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the unactuated floating base. Using a least squares minimization approach, conducted within the nullspace of unmeasured degrees of freedom, we are able to use a partial force sensor set for full-body estimation, e.g. using only joint torque sensors, allowing for estimation when contact force measurement is unavailable or unreliable (e.g. due to slipping, rolling contacts, etc.).