This paper discusses the creation of an agent-based simulation model for interactive robotic faces, built based on data from physical human–robot interaction experiments, to explore hypotheses around how we might create emergent robotic personality traits, rather than pre-scripted ones based on programmatic rules. If an agent/robot can visually attend and behaviorally respond to social cues in its environment, and that environment varies, then idiosyncratic behavior that forms the basis of what we call a “personality” should theoretically be emergent. Here, we evaluate the stability of behavioral learning convergence in such social environments to test this idea. We conduct over 2000 separate simulations of an agent-based model in scaled-down, abstracted forms of the environment, each one representing an “experiment”, to see how different parameters interact to affect this process. Our findings suggest that there may be systematic dynamics in the learning patterns of an agent/robot in social environments, as well as significant interaction effects between the environmental setup and agent perceptual model. Furthermore, learning from deltas (Markovian approach) was more effective than only considering the current state space. We discuss the implications for HRI research, the design of interactive robotic faces, and the development of more robust theoretical frameworks of social interaction.
Empirical-Markovian Approach for Estimating the Flexible Pavement Structural Capacity: Caltrans Method as a Case Study