Abstract-This paper introduces the COMPANION framework: a Constraint-Optimizing Method for Person-Acceptable NavigatION. In this framework, human social conventions, such as personal space and tending to one side of hallways, are represented as constraints on the robot's navigation. These constraints are accounted for at the global planning level. In this paper, we present the rationale for, and implementation of, this framework, and we describe the experiments we have run in simulation to verify that the method produces humanlike behavior in a mobile robot. Our approach is novel in that it can express an arbitrary number of social conventions and explicitly accounts for these conventions in the planning phase.

a b s t r a c tFor human-robot interaction to proceed in a smooth, natural manner, robots must adhere to human social norms. One such human convention is the use of expressive moods and emotions as an integral part of social interaction. Such expressions are used to convey messages such as ''I'm happy to see you'' or ''I want to be comforted,'' and people's long-term relationships depend heavily on shared emotional experiences. Thus, we have developed an affective model for social robots. This generative model attempts to create natural, human-like affect and includes distinctions between immediate emotional responses, the overall mood of the robot, and long-term attitudes toward each visitor to the robot, with a focus on developing long-term human-robot relationships. This paper presents the general affect model as well as particular details of our implementation of the model on one robot, the Roboceptionist. In addition, we present findings from two studies that demonstrate the model's potential.

Smoking habits and related attitudes were assessed in a sample of 4059 11- to 16-year-olds who also identified their best friends from among their fellow respondents. Subjects' responses were directly collated with those of their friends and indicated a clear covariation of smoking status (controlling for sex and age) as anticipated from previous research in which adolescents have been asked to report on the smoking habits of their friends. Such covariation, however, was not specific to smoking habits, but generalized to related measures of attitude and normative beliefs, alcohol use, health locus of control, school performance, spending habits and socio-economic status. Similarities on these other attributes were much the same, whether or not friends shared each others' smoking habits. It is concluded that these data argue against a simplistic view of unidirectional 'peer group influence' and invite an interpretation of friendship choice based on multiple dimensions of similarity.

From research carried out over the last few years, it has become apparent that the visual world of the newborn baby (0-7 days from birth) is highly organised. It is also clear that the newborn infant is an extremely competent learner. These themes are illustrated with respect to two areas of research, face perception and intermodal learning. Evidence is presented suggesting that the human face is "special" in that newborns respond to them as faces, rather than merely collections of stimulus elements. Additional evidence is presented which demonstrates that newborns can form auditory-visual associations after only a short exposure to the stimulation. These lines of evidence suggest that innate capacities, or modules, facilitate and direct early learning in order to allow newborn infants to understand their newly encountered world.