修士（工学）, The University of Electro-Communications, Mar. 2016

博士（工学）, The University of Electro-Communications, Dec. 2019

Emotion model

Human-Robot Interaction

Informatics, Sensitivity (kansei) informatics

Informatics, Intelligent robotics

Apr. 2026 - Present
The University of Electro-Communications, Graduate School of Informatics and Engineering, School of Informatics and Engineering Department of Informatics, Cluster I(Informatics and Computer Engineering), Associate Professor

Apr. 2026 - Present
奈良先端科学技術大学院大学, 先端科学技術研究科 情報科学領域, 客員准教授

Feb. 2020 - Mar. 2026
Nara Institute of Science and Technology, 先端科学技術研究科 情報科学領域 数理情報学研究室, Assistant Professor

Apr. 2019 - Jan. 2020
Osaka University, 先導的学際研究機構附属共生知能システム研究センター 浅田研究グループ, Specially appointed reseacher

Apr. 2016 - Mar. 2019
JSPS Research Fellow(DC1)

Apr. 2016 - Mar. 2019
The University of Electro-Communications, Graduate School of Informatics and Engineering, Department of Mechanical Engineering and Intelligent Systems

Apr. 2014 - Mar. 2016
The University of Electro-Communications, Graduate School of Information Systems, Department of Human Media Systems

Apr. 2010 - Mar. 2014
The University of Electro-Communications, Faculty of Informatics and Engineering, Department of Mechanical Engineering and Intelligent Systems

Jun. 2025 - Present
Sponsorship Chair, 2026 19th IEEE International Conference on Automatic Face and Gesture Recognition, Society

Apr. 2025 - Present
Local Chair, 2026 IEEE International Conference on Development and Learning (ICDL), Society

Jun. 2023 - Present
JSAIOS 「Affective computing」 organizer

Dec. 2019 - Present
運営委員会 賞担当, HAIシンポジウム

Apr. 2025 - Dec. 2025
Proceedings Chair, 2025 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), Society

Apr. 2021 - Mar. 2025
専門委員, HCI研究会

Apr. 2022 - Mar. 2024
ロボット学会編集委員

Oct. 2022
ACII2022 Local chair

Aug. 2021
ICDL2021 Workshop on Grand Challenges of Next Generation Cognitive and Developmental Robotics Organizer

2021
HAI 2021 Program Committee

2021
Associate Editor, IEEE RO-MAN2021

Jun. 2020 - Dec. 2020
異分野融合ワークショップ 感情とAI 冬のワークショップ 運営

Oct. 2020
organizer, IROS2020 Tutorial on Deep Probabilistic Generative Models for Robotics

Feb. 2020 - Sep. 2020
organizer, IEEE RO-MAN2020 workshop Socialware in human-robot collaboration and physical interaction

Dec. 2019 - Jun. 2020
JSAI2020企画セッション 「感情とAI」organizer

Jun. 2019 - Jun. 2019
organizer, JSAI2019OS 「感情とAI」, Society

Sep. 2018 - Sep. 2018
AIXシンポジウム「心ふるわせ，社会うごかすエージェントデザイン」organizer, Others

Aug. 2018 - Aug. 2018
JCSS2018OS「心を揺さぶる，社会を動かすエージェント科学の最先端」organizer, Others

Mar. 2017 - Oct. 2017
Publicity Chair, Next Generation Human-Agent Interaction workshop, Society

Dec. 2015 - Dec. 2016
General Chair, Next Generation Human-Agent Interaction Workshop, Society

Dec. 2025
The National Institute of Science and Technology Policy (NISTEP), Ministry of Education, Culture, Sports, Science and Technology (MEXT), 科学技術・学術政策研究所（NISTEP）では、科学技術・イノベーションの様々な分野において活躍され、日本に元気を与えてくれる方々を「ナイスステップな研究者」として選定しています。平成 17 年より選定を始め、過去にナイスステップな研究者に選定された方の中には、その後ノーベル賞を受賞された山中 伸弥 教授や天野 浩 教授も含まれています。 令和７年の選定においては、専門家ネットワーク（約 1,600 人）への調査で得た情報等により、最近の活躍が注目される研究者を特定し、研究実績に加えて、自然科学と人文学・社会科学との融合等の新興・融合領域を含めた最先端・画期的な研究内容、産学連携・イノベーション、国際的な研究活動の展開等の観点から、所内審査会の議論を経て最終的に 10 名を選定しました。 日永田氏は数理情報学に基づく感情モデルの構築と応用を通じて，人と情報システムのインタラクションの高度化に貢献する先駆的研究成果に対しての受賞となります。
NISTEP Selection (The Researchers with Nice Step) 2025, Chie Hieida
International academic award

May 2022
ICRA2022 Workshop Future Robotics Vision Contest 3rd place, Chie Hieida

Mar. 2020
電気通信大学通機会
田中榮賞, 日永田智絵

May 2018
Robocup@home2018JapanOpen DSPL RSJ Award, Kara@ge

May 2018
Robocup@home2018JapanOpen DSPL 1st place, Kara@ge

Dec. 2017
HAI-2017 Impressive Poster Award, Kazuki Miyazawa;Chie Hieida;Takato Horii;Takayuki Nagai

May 2017
Robocup@home2017JapanOpen
Open Platform 1st Place, RMF

May 2017
Robocup@home2017JapanOpen
Domestic Standard Platform 1st Place, Kara@ge

May 2017
Robocup@home2017JapanOpen
「人とロボットの協調に向けた学習フレームワーク」
JSAI Award, Kara@ge

Jan. 2017
HAI-2016
Impressive Poster Award

Jul. 2016
Robocup@home2016Leipzig
Innovation Award, er@sers(Kara@ge

Mar. 2016
Robocup@home2016 Aichi
Open Platform 3rd Place, Kara@ge

Nov. 2015
Intelligent Home Robotics Challenge 2015
2nd place for the overall, 1st palces on two classes, RMF,Kara@ge

Mar. 2015
UEC student award
Research section

Dec. 2014
HAI-2013
Outstanding Research Award

Sep. 2014
IROS2014 IEEE Robotics and Automation Society Japan Chapter
Young Award

Mar. 2014
The 76th National Convention of IPSJ
Student Award

Mar. 2014
UEC student award
Research section

May 2013
Robocup Japan Open 2013
JSAI Award, Kara@ge

May 2013
Robocup Japan Open 2013
Open Platform 3rd Place, Kara@ge

Mar. 2013
The 23th Micro Mechanism Contest
Obstacle race, Art Prize

Mar. 2013
UEC student award
Extra curricular activities section

Mar. 2012
The 22th Micro Mechanism Contest
Obstacle race, Art Prize

Mar. 2012
UEC student award
Group section, RMF micro mechanism

Social Comparison without Explicit Inference of Others’ Reward Values: A Constructive Approach Using a Probabilistic Generative Model
Yosuke Taniuchi; Chie Hieida; Atsushi Noritake; Kazushi Ikeda; Masaki Isoda
IEEE Access, 2026
Scientific journal

Social Comparison without Explicit Inference of Others' Reward Values: A Constructive Approach Using a Probabilistic Generative Model
Yosuke Taniuchi; Chie Hieida; Atsushi Noritake; Kazushi Ikeda; Masaki Isoda
arXiv:2512.18687, 21 Dec. 2025, Social comparison$\unicode{x2014}$the process of evaluating one's rewards relative to others$\unicode{x2014}$is an essential feature of social emotions such as envy and plays a fundamental role in primate social cognition. However, it remains unknown how information about others' rewards affects one's own reward valuation. This study examines whether monkeys merely recognize objective differences in reward or instead infer others' subjective reward valuations. To address this issue, a constructive approach$\unicode{x2014}$one that replicates target emotions in artificial systems and extracts knowledge from them$\unicode{x2014}$was employed, owing to its potential to simulate how the monkey interacts with social contexts, specifically social comparison. We developed three computational models with varying degrees of social information processing: an Internal Prediction Model (IPM), which infers the partner's subjective values; a No Comparison Model (NCM), which disregards partner information; and an External Comparison Model (ECM), which directly incorporates the partner's objective rewards. We trained the models on a dataset containing the behavior of a pair of monkeys, their rewards, and the conditioned stimuli, and then evaluated the models' ability to classify subjective values across pre-defined experimental conditions. The ECM achieved the best classification result (0.88 for the ECM vs. 0.85 for the IPM on the Rand index), suggesting that, in our modeling framework, social comparison relies on objective differences in reward rather than on inferences about subjective reward values.
Research society

Study of Emotion Concept Formation by Integrating Vision, Physiology, and Word Information using Multilayered Multimodal Latent Dirichlet Allocation
Kazuki Tsurumaki; Chie Hieida; Kazuki Miyazawa
Corresponding, IEEE Transactions on Affective Computing, Institute of Electrical and Electronics Engineers (IEEE), 1-14, Jul. 2025, Peer-reviwed, True
Scientific journal

Simulating Effects of Interoceptive Accuracy on Decision-Making in Open-World Survival Games
Takato Kishida; Chie Hieida; Yosuke Taniuchi; Kazuki Miyazawa; Takato Horii
Corresponding, AROB-ISBC 2025, Jan. 2025, Peer-reviwed
International conference proceedings

Study of Emotion Concept Formation by Integrating Vision, Physiology, and Word Information using Multilayered Multimodal Latent Dirichlet Allocation
Kazuki Tsurumaki; Chie Hieida; Kazuki Miyazawa
Corresponding, arXiv:2404.08295, 12 Apr. 2024, How are emotions formed? Through extensive debate and the promulgation of
diverse theories , the theory of constructed emotion has become prevalent in
recent research on emotions. According to this theory, an emotion concept
refers to a category formed by interoceptive and exteroceptive information
associated with a specific emotion. An emotion concept stores past experiences
as knowledge and can predict unobserved information from acquired information.
Therefore, in this study, we attempted to model the formation of emotion
concepts using a constructionist approach from the perspective of the
constructed emotion theory. Particularly, we constructed a model using
multilayered multimodal latent Dirichlet allocation , which is a probabilistic
generative model. We then trained the model for each subject using vision,
physiology, and word information obtained from multiple people who experienced
different visual emotion-evoking stimuli. To evaluate the model, we verified
whether the formed categories matched human subjectivity and determined whether
unobserved information could be predicted via categories. The verification
results exceeded chance level, suggesting that emotion concept formation can be
explained by the proposed model.
Research society

Negative emotion recognition using multimodal physiological signals for advanced driver assistance systems
Chie Hieida; Tomoaki Yamamoto; Takatomi Kubo; Junichiro Yoshimoto; Kazushi Ikeda
Lead, Artificial Life and Robotics, Springer Science and Business Media LLC, 28, 2, 388-393, 21 Feb. 2023, Peer-reviwed
Scientific journal

Survey and perspective on social emotions in robotics
Chie Hieida; Takayuki Nagai
Lead, Advanced Robotics, Informa UK Limited, 36, 1-2, 17-32, 02 Jan. 2022, Peer-reviwed, True
Scientific journal, English

Negative Emotion Recognition using Multimodal Physiological Signals for Driving Automation Systems
Tomoaki Yamamoto; Chie Hieida; Takatomi Kubo; Junichiro Yoshimoto; Kazushi Ikeda
Corresponding, International Symposium on Artificial Life and Robotics, Jan. 2022, Peer-reviwed

埋込サイボーグ技術の社会実装に係る技術・社会的課題
藤原 幸一; 藤田 卓仙; 山川 俊貴; 久保 孝富; 日永田 智絵; 桐山 瑶子; 川島 浩誉; 川治 徹真; 野田 隼人; 田畑 淳
人工知能学会誌, Nov. 2021, Peer-reviwed, Invited

Survey and Perspective on Social Emotions in Robotics
Chie Hieida; Takayuki Nagai
Lead, 20 May 2021, This study reviews research on social emotions in robotics. In robotics,
emotions are pursued for a long duration, such as recognition, expression, and
computational modeling of the basic mechanism behind them. Research has been
promoted according to well-known psychological findings, such as category and
dimension theories. Many studies have been based on these basic theories,
addressing only basic emotions. However, social emotions, also called
higher-level emotions, have been studied in psychology. We believe that these
higher-level emotions are worth pursuing in robotics for next-generation
social-aware robots. In this review paper, while summarizing the findings of
social emotions in psychology and neuroscience, studies on social emotions in
robotics at present are surveyed. Thereafter, research directions towards
implementation of social emotions in robots are discussed.

Deep Emotion : Development of an Emotion Model Using Deep Learning for Understanding Emotions
日永田智絵
Lead, Journal of the Japanese Society for Artificial Intelligence, The Japanese Society for Artificial Intelligence, 36, 1, 43-50, 01 Jan. 2021, Peer-reviwed, Invited
Japanese

Estimating children’s personalities through their interaction activities with a tele-operated robot
Kasumi Abe; Takayuki Nagai; Chie Hieida; Takashi Omori; Masahiro Shiomi
Journal of Robotics and Mechatronics, 32, 1, 21-31, 2020, Peer-reviwed
Scientific journal

Walking hand-in-hand helps relationship building between child and robot
Chie Hieida; Kasumi Abe; Takayuki Nagai; Takashi Omori
Lead, Journal of Robotics and Mechatronics, 32, 1, 8-20, 2020, Peer-reviwed
Scientific journal

Extract Movement Parameters toward the Development of Effective Emotional Body Expressions for Flying Robots
Hieida Chie; Kudoh Shunsuke; Suehiro Takashi
Lead, Journal of the Robotics Society of Japan, The Robotics Society of Japan, 37, 9, 856-863, 2019, Peer-reviwed,

In Human-Robot Communication, emotional expressions of robots almost resembled people and animals. However, a robot should have an ideal form and action according to its purpose, and it is not necessarily a rational design policy to resemble human beings and animals. Therefore, a promotion of communication by methods other than resembling humans and animals should be considered, but little research has been done from such a viewpoint. In this research, we considered a method to express emotion with a robot that is far away physically from a person. We used a flying robot as a robot physically far from the person. Instead of linking actions and emotions directly, we adopted a method of indirectly linking actions and emotions by placing indexes for emotional expression, modeling the relationship between actions and indexes, emotions and indexes. Using the Russell annulus model as indexes, we created motion using the indexes and confirmed that the motion created makes the person feel emotion by a subject experiment.

Japanese

Emotion Differentiation based on Decision-Making in Emotion Model
Chie Hieida; Takato Horii; Takayuki Nagai
RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, 659-665, 06 Nov. 2018
International conference proceedings

A Model of Generating and Predicting Intention toward Human-Robot Cooperation
Anh Tuan Nguyen; Chie Hieida; Takayuki Nagai
RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, 113-120, 06 Nov. 2018
International conference proceedings

Toward empathic communication: Emotion differentiation via face-to-face interaction in generative model of emotion
Chie Hieida; Takato Horii; Takayuki Nagai
2018 Joint IEEE 8th International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2018, 66-71, Sep. 2018
International conference proceedings

Deep Emotion: A Computational Model of Emotion Using Deep Neural Networks
Chie Hieida; Takato Horii; Takayuki Nagai
Lead, 26 Aug. 2018, Emotions are very important for human intelligence. For example, emotions are

closely related to the appraisal of the internal bodily state and external

stimuli. This helps us to respond quickly to the environment. Another important

perspective in human intelligence is the role of emotions in decision-making.

Moreover, the social aspect of emotions is also very important. Therefore, if

the mechanism of emotions were elucidated, we could advance toward the

essential understanding of our natural intelligence. In this study, a model of

emotions is proposed to elucidate the mechanism of emotions through the

computational model. Furthermore, from the viewpoint of partner robots, the

model of emotions may help us to build robots that can have empathy for humans.

To understand and sympathize with people's feelings, the robots need to have

their own emotions. This may allow robots to be accepted in human society. The

proposed model is implemented using deep neural networks consisting of three

modules, which interact with each other. Simulation results reveal that the

proposed model exhibits reasonable behavior as the basic mechanism of emotion.
Scientific journal

Decision-Making in Emotion Model
Chie Hieida; Takato Horii; Takayuki Nagai
Lead, ACM/IEEE International Conference on Human-Robot Interaction, IEEE Computer Society, 127-128, 01 Mar. 2018, Peer-reviwed
International conference proceedings, English

Generation of Gestures During Presentation for Humanoid Robots
Akihito Shimazu; Chie Hieida; Takayuki Nagai; Tomoaki Nakamura; Yuki Takeda; Takenori Hara; Osamu Nakagawa; Tsuyoshi Maeda
2018 27TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN 2018), 961-968, 2018
International conference proceedings, English

Integration of Multimodal Categorization and Reinforcement Learning for Robot Decision-Making
Kazuki Miyazawa; Tatsuya Aoki; Chie Hieida; Kensuke Iwata; Tomoaki Nakamura; Takayuki Nagai
IROS2017: Workshop on Machine Learning Methods for High-Level Cognitive Capabilities in Robotics, Sep. 2017, Peer-reviwed

A Model of Emotion for Empathic Communication.
Chie Hieida; Takayuki Nagai
Lead, Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017, Vienna, Austria, March 6-9, 2017, ACM, 133-134, 2017, Peer-reviwed
International conference proceedings

Modelling "model of others" using Deep Q-Network
Tuan Anh Nguyen; Chie Hieida; Takayuki Nagai
NGHAI2016, 2016, Peer-reviwed

Action Elements of Emotional Body Expressions for Flying Robots
Chic Hieida; Hiroaki Matsuda; Shunsuke Kudoh; Takashi Suehiro
Lead, ELEVENTH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN ROBOT INTERACTION (HRI'16), 2016-April, 439-440, 2016, Peer-reviwed
International conference proceedings, English

Telepresence Childcare Robot for Playing with Children from a Remote Location
Abe Kasumi; Pei Yachao; Tingyi Zhang; Hieida Chie; Nagai Takayuki; Shiomi Masahiro
The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, The Japan Society of Mechanical Engineers, 2015, 0, 138-139, 2015, In this study, we develop a prototype telepresence childcare robot, which will aid childcare by facilitating interactions between a young child and a remote person. Because the robot interacts with a young child, safety measures and an ability to maintain the attention of a child are important considerations. We design a robot with a focus on safety and physical play, and propose the use of a semi-autonomous child tracking method. Finally, we perform a preliminary test, which indicates that this robot can maintain a child's attention for longer than a general video-chat system.
English

Play Strategies for Building Good Relationships between Shy Children and Robots
ABE KASUMI; HIEIDA CHIE; ATTAMIMI MUHAMMAD; NAGAI TAKAYUKI; IWASAKI AKIKO; SHIMOTOMAI TAKAYUKI; OMORI TAKASHI; OKA NATSUKI
情報処理学会論文誌ジャーナル(Web), 55, 12, 2524-2536 (WEB ONLY), Dec. 2014, Peer-reviwed
Japanese

Toward playmate robots that can play with children considering personality
Kasumi Abe; Chie Hieida; Muhammad Attamimi; Takayuki Nagai; Takayuki Shimotomai; Takashi Omori; Natsuki Oka
HAI 2014 - Proceedings of the 2nd International Conference on Human-Agent Interaction, Association for Computing Machinery, Inc, 165-168, 29 Oct. 2014, Peer-reviwed
International conference proceedings, English

Physical Embodied Communication between Robots and Children: An Approach for Relationship Building by Holding Hands
Chie Hieida; Kasumi Abe; Muhammad Attamimi; Takayuki Shimotomai; Takayuki Nagai; Takashi Omori
Lead, 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 3291-3298, 2014, Peer-reviwed
International conference proceedings, English

座談会 AI活用学問革新創成 学生座談会—Student Round-table of AI powered Research Innovation and Creation—特集 JST ACT-X AI活用で挑む学問の革新と創成
日永田 智絵; 黒宮 寛之; 安倍 悠朔; 網野 海; 島田 裕平; 西村 和也
Lead, 日本ロボット学会, Oct. 2023, 日本ロボット学会誌 = Journal of the Robotics Society of Japan / 日本ロボット学会 編, 41, 8, 700-702, Japanese, Introduction scientific journal, 0289-1824, AN00141189

On special issue “JST ACT-X AI Powered Research Innovation/Creation”
Hieida Chie
Lead, The Robotics Society of Japan, Oct. 2023, Journal of the Robotics Society of Japan, 41, 8, 656-657, Japanese, Introduction scientific journal, 0289-1824, 1884-7145

A Constructive Approach to Understanding Emotion Mechanisms
Chie Hieida
Lead, Jun. 2021, 計測と制御, Invited

特集：2020 年度人工知能学会全国大会（第34 回）［企画セッション］感情とAI
日永田智絵; 堀井隆斗; 大平英樹; 長井隆行
Lead, 一般社団法人 人工知能学会, 2020, 人工知能, 35, 6, 779-800, Japanese, Invited, 2188-2266, 130007935388

Emotion and AI
日永田 智絵; 堀井 隆斗; 長井 隆行
Lead, 人工知能学会 ; 2014-, Nov. 2019, 人工知能 : 人工知能学会誌 : journal of the Japanese Society for Artificial Intelligence, 34, 6, 881-887, Japanese, Invited, 2188-2266, 40022070770, AA12652467

生成AI×ロボティクス
南谷, 奉良; 中村, 靖子; 宮澤, 和貴; 長滝, 祥司; 橋本, 敬; 金野, 武司; 池田, 慎之介; Zhang, Sonia Yuhui; 鈴木, 麗璽; 有田, 隆也; 麻植, 義喜; 山本, 哲也; 高橋, 英之 (情報科学); 大道, 麻由; 日永田, 智絵; 肖, 軼群; 和泉, 悠; 葉柳, 朝佳音
Japanese, 283p, 春風社, Aug. 2025, 9784868160830

感情心理学・入門 改訂版
大平英樹; 日永田智絵
Contributor, コラム寄稿, Dec. 2024

AIは人を好きになる? : 科学技術をめぐる15の疑問
Baccalario, Pierdomenico; Taddia, Federico; Temporelli, Massimo; Razzoli, Claudia; 日永田, 智絵; 有北, 雅彦
Japanese, 142p, 太郎次郎社エディタス, Jul. 2024, 9784811806761

機械学習を用いた感情のモデリング
Contributor, 人工知能を用いた五感・認知機能の可視化とメカニズム解明 7.1, 技術情報協会

Toward Empathetic Robots: Modeling Emotional Mechanisms and Concept Formation
Chie Hieida
English, Mechanism of Brain and Mind, Invited
Mar. 2026

身体の「内」と「外」の情報統合に基づく感情の計算モデル
日永田智絵
身体圏研究シンポジウム, Invited
Mar. 2026

ロボットの情動発達
日永田智絵
Nominated symposium, 日本発達心理学会, Invited
Mar. 2026

聴覚刺激に対する生理信号・音響特徴・言語報告を統合した感情概念形成モデルの検討
植村 奏; 谷内 洋介; 日永田 智絵; 池田 和司
Oral presentation, HAIシンポジウム2026
Feb. 2026

人－ロボット共生社会に向けた 感情モデルの構築
日永田智絵
公開ワークショップ AI・ロボット共生社会学に向けて, Invited
Dec. 2025

人とロボット間の共感コミュニケーションに向けた感情発達ロボティクス
日永田智絵
Public discourse, 第123回 CNBEセミナー, Invited
24 Oct. 2025

感情・視覚刺激・生理反応が飲料の主観的味覚評価に与える影響の解析
中川 郁仁; 日永田 智絵; 池田 和司
Oral presentation, 日本ロボット学会学術講演会
03 Sep. 2025

感情発達ロボティクスの展望
日永田智絵
Oral presentation, 日本ロボット学会学術講演会
03 Sep. 2025

ロボット・AIは感情をもてるのか？ ー ヒトとロボットの比較から考える五感と感情 ー
日永田智絵
Public discourse, 認知科学会サマースクール, Invited
Aug. 2025

AI技術の展望 生成AIからAIエージェント、自律型AI、AI+ロボティクスまで
日永田智絵
Public discourse, AI活用は新たなステージへ、急速に高まるLLMの役割とAI基盤の重要性 ~HPE×NVIDIA AI LLM Seminar~, Invited
May 2025

五感を通じた感情の惹起とロボットへの実装のための一考察
日永田智絵
Oral presentation, 人工知能学会全国大会
May 2025

感情をもつロボットの開発に向けた感情分化モデルの検討
日永田智絵
Invited oral presentation, 三融会・武田神経科学シンポジウム, Invited
Apr. 2025

人の心に寄り添うロボット技術の開発:接触・情動/感情
日永田智絵
第 26 回行動通信工学研究会, Invited
Nov. 2024

感情のレシピ ～感情を持つロボットへの挑戦～
日永田智絵
Invited oral presentation, Japanese, NEURO2024 市民公開講座 脳科学の達人2024, Invited
27 Jul. 2024

嫉妬を持つロボットの開発に向けた計算モデルの構築
日永田智絵
Invited oral presentation, English, NUERO2024, Invited
24 Jul. 2024

感情の計算モデル
日永田智絵
Public discourse, 第4回AAA研究会, Invited
Mar. 2024

身体の中で生ずる「内受容感覚」によるヒトの感情と意思決定
日永田智絵
Public discourse, 新化学技術推進協会 ライフ脳科学分科会講演会, Invited
Oct. 2023

画像提示時の生体反応を用いた感情概念形成モデルの検討
弦牧 和輝; 宮澤 和貴; 日永田智絵; 長井隆行
日本ロボット学会全国大会
Sep. 2023

人工知能を用いた感情のモデリングと製品開発への応用
日永田智絵
技術情報協会セミナー AI・人工知能を活用した感性の定量化と製品開発への応用, Invited
Aug. 2023

「内」と「外」の情報を使った感情モデル
日永田智絵
赤ちゃん学会第22回学術集会, Invited
Aug. 2023

私の経験
日永田智絵
日本ロボット学会全国大会 オープンフォーラム ロボコン・ものづくり経験を活かした人生歩みたい！, Invited
Aug. 2023

Robots and Emotion ~ A constructive approach to understanding emotions ~
Chie Hieida
S241: Animal, Human, and Machine Intelligence, HCII2023, Invited
Jul. 2023

Concept Learning by Integrated Cognitive Architecture Considering Interoception
KISHIDA Takato; HIRAI Yume; MIYAZAWA Kazuki; HIEIDA Chie; NAGAI Takayuki
Japanese, Proceedings of the Annual Conference of JSAI, The Japanese Society for Artificial Intelligence, We receive sensory signals that are classified into three categories according to the type of receptors: extroception, interoception, and proprioception. Especially,the interoception is closely related to our emotion and decision-making. However, robots do not have interoception receptors like humans, and robots which have emotions like humans have not been realized. On the other hand, there are various sensors corresponding to extroception receptors, and integrated cognitive models that self-organize information from the external world have been discussed. In this study, we propose an integrated cognitive architecture considering interoception based on the architecture that is proposed by our research group. Using a robot with the proposed model, we conducted an experiment assuming interaction between a parent and a child. We then evaluated the latent space learned by the model. As a result, we confirmed that the robot can learn appropriate behaviors depending on the environment and physical information. Furthermore, we confirmed the formation of concepts according to the linguistic and the robot's physical information.
Jun. 2023
Jun. 2023 Jun. 2023

「感情を持つロボット」実現に向けて
日永田智絵
ドコモgacco Live, Invited
Apr. 2023

言語インタラクションによる画像刺激に対する感情の共有
早舩晃希; 弦牧和輝; 日永田智絵; 長井隆行; 池田和司
電子情報通信学会 総合大会
10 Mar. 2023

画像刺激に対する情動反応モデルとしてのEDA推定モデルの探索
松本貴志; 弦牧和輝; 早船晃希; 日永田智絵; 長井隆行; 久保孝富; 池田和司
電子情報通信学会 総合大会
10 Mar. 2023

共生ロボットのための感情モデルの開発
日永田智絵
「次世代脳」プロジェクト 冬のシンポジウム ２０２２, Invited
Dec. 2022

共に成長するロボットに向けた感情発達ロボティクス
日永田智絵
RSJ2022 オープンフォーラム, Invited
09 Sep. 2022

Research on Self-Evaluation Scale and Emotional Response to Visual Stimuli
弦牧和輝; 早舩晃希; 大森一祥; 日永田智絵; 長井隆行; 長井隆行
人工知能学会全国大会(Web)
Jun. 2022
Jun. 2022 Jun. 2022

Challenge for emotional development robots
Chie Hieida
ICRA 2022 Workshop Toward AI-embedded robots in 2050
May 2022

Study for the exploration-exploitation strategy of human based on restless two-armed bandit task
Jiaxing Tian; Chie Hieida; Junichiro Yoshimoto; Kenta Kimura; Hideki Ohira; Kazushi Ikeda
IPSJ
Mar. 2022

Emotion and Robotics
Chie Hieida
English, CHAIN Winter School 2021, Invited
Jan. 2022

感情のつくりかた ~How to make emotions~
日永田智絵
大阪大学 システム科学院ゼミ, Invited
Nov. 2021

Challenge for emotional development robots
Chie Hieida
English, ICDL 2021 Workshop on Grand Challenges of Next-Generation Cognitive and Developmental Robotics, Invited
Aug. 2021

感情とAI ～感情の理解に向けた構成論的アプローチ～
Chie Hieida
第9回脳科学若手の会・関西部会セミナー『感情研究のフロンティア』, Invited
04 Jul. 2020

Multimodal Evoked Emotion Prediction and its Application to ASMR Video Analysis
YANG Yu; HIEIDA Chie; HORII Takato; NAGAI Takayuki
Japanese, Proceedings of the Annual Conference of JSAI, The Japanese Society for Artificial Intelligence,

With the development of digital terminals such as smartphones and tablets,videos that available for users to watch has reached to an enormous amount. In this context, applications such as classification, retrieval and distribution of personalized video content to meet the consumer needs remains a challenge. In general, humans tend to choose movies and music based on emotional characteristics. Therefore, evoked emotion analyzing may provide a guideline for this task. Emotions evoked by video are related to both audio and video modalities. In this study, we propose a deep learning model that estimates movie-evoked emotion by integrating multimodal information. Experiments using a movie database verify the change in estimation performance due to the integration of multimodal information, and show that the accuracy is improved compared to the conventional method. In addition, we analyze Autonomous Sensory Meridian Response (ASMR) videos, which have recently become a hot topic, and examine the relationship between evoked emotion and viewer behavior such as the number of views and likes/dislikes rates.

Jun. 2020
2020 2020

Analyses of a counselor's empathic behavior toward a client - Speech contents and facial expressions -
Chie Hieida; Jyh-Jong Hsieh; Yuji Kawai; Minoru Asada
The 2nd International Symposium on Symbiotic Intelligent Systems
Jan. 2020

How Does a Client Feel Empathy from a Counselor? – Analyses of Speech Contents and Facial Expressions –
Chie Hieida; Jyh-Jong Hsieh; Yuji Kawai; Minoru Asada
Mechanism of Brain and Mind Workshop 2020
Jan. 2020

A dialogue system implemented with latent parameters
LI Weida; HIEIDA Chie; NAGAI Takayuki
Japanese, Proceedings of the Annual Conference of JSAI, http://ci.nii.ac.jp/naid/130007658651,

When given a conversation, traditional dialogue systems mainly focus on the context that can be observed on the surface of sentences; concretely, they process and determine the output based on the grammar, visible keywords and structure of the sentence. However, the content we convey to others is affected by a multitude of latent parameters, such as emotional state, personal knowledge and personality. Therefore, we have attempted to validate the integrity of a dialogue system which takes these latent parameters into measure, and have sucessfully developed a dialogue system which utilizes latent parameters as input.

2019

Action Selection based on Somatic Marker Hypothsis
HIEIDA Chie; HORII Takato; NAGAI Takayuki
Japanese, Proceedings of the Annual Conference of JSAI, http://ci.nii.ac.jp/naid/130007658613,

Emotions are very important for human intelligence; however the mechanism of emotions is not yet fully clarified. The important aspect of embodiment in emotion has been claimed by Damasio's somatic marker hypothesis, which proposed that emotions evaluate external stimuli efficiently through the body. As a first step toward understanding the mechanism of emotion, we try to verify the somatic-marker hypothesis using a computer simulation. Specifically, we introduce a module that learns actions using body signals, and verify whether the agent can learn to obtain higher reward using the body signals. As the result, the simulation reveals that the model with body signals can select actions with higher reward compared to models without signals from the body.

2019

Generation of presentation motion using sequence to sequence model
SHIMAZU Akihito; HIEIDA Chie; NAGAI Takayuki; NAKAMURA Tomoaki; TAKEDA Yuki; HARA Takenori; NAKAGAWA Osamu; MAEDA Tsuyoshi
Proc. of JSAI, http://ci.nii.ac.jp/naid/130007423913,

In the presentation, gestures play a very important role as a means of improving the information transmission effect. Moreover, it was shown that the movement expressing the enthusiasm and intention of the presenter in an unconscious manner affects the success of the presentation and the impression on the audience. For these reasons, it is required for presentation robots to perform such movements; however, manual design of these movements is not an easy task. In this research, we propose a method to learn relationship between speech prosodic information and motion using a sequence to sequence model, and directly generate appropriate motions from prosodic information. This paper also proposes a method for generating motions representing meanings of specific words.

30 Jul. 2018

Emotional Differentiation based on Decision-Making Process
HIEIDA Chie; HORII Takato; NAGAI Takayuki
Proc. of JSAI, http://ci.nii.ac.jp/naid/130007424045,

Having emotions is essential for robots to understand and sympathize with the feelings of people. In addition, it may allow the robots to be accepted into human society. The role of emotions in decision-making is another important perspective. In this paper, a model of emotions based on various neurological and psychological findings that are related to empathic communication between humans and robots is proposed. Subsequently, a mechanism of decision-making that is based on affects using convolutional LSTM and Deep Deterministic Policy Gradient is examined.

30 Jul. 2018

Integrated Model for Learning of Actions, Language and Planning
MIYAZAWA Kazuki; AOKI Tatsuya; HORII Takato; HIEIDA Chie; NAKAMURA Tomoaki; NAGAI Takayuki
Proc. of JSAI, http://ci.nii.ac.jp/naid/130007423199,

人間がどのように行動を学習し，計画・決定しているのかは，非常に興味深い問題である．またそうした行動計画・決定や言語理解，思考などの高次機能の獲得は，ロボット工学においても依然として未解決の問題である．本稿では，こうした点を解明する一助として，概念・行動・言語・プランニングを同時に学習する枠組みを提案する．これを多層マルチモーダルLDA (mMLDA) を中心に様々なモジュールを統合することにより実現する．mMLDAと強化学習の統合により，理解に基づく行動を可能にする．また，mMLDAとベイジアン隠れマルコフモデルの統合により，文法学習を行い，ロボットが自分の行動を言葉で表現し，ユーザーの発話を理解することを可能にする．さらに，mMLDAと隠れマルコフモデルの統合により，長期的なプランニングが可能になる．実データを用いたシミュレーション環境で実験を行い，提案するモデルの有効性を検証する．

30 Jul. 2018

Sensoroid: Arti cial Intelligence Utilizing Human Physical Body
Kazuki Miyazawa; Chie Hieida; Takato Horii; Takayuki Nagai
HAI symposium, http://hai-conference.net/symp2017/proceedings/pdf/P-41.pdf
11 Dec. 2017

GANによるマルチモーダル情報の生成
Riku Fujimoto; Chie Hieida; Tatsuya Aoki; Kazuki Miyazawa; Tomoaki Nakamura; Takayuki Nagai
SSI2017
Nov. 2017

Emotion Model for Human-Robot Empathic Communication
Chie Hieida; Takayuki Nagai
JCSS2017
Sep. 2017

Modeling reward using multilayer multimodal LDA
Kazuki Miyazawa; Tatsuya Aoki; Chie Hieida; Kensuke Iwata; Tomoaki Nakamura; Takayuki Nagai
Oral presentation, Jsai2017, https://kaigi.org/jsai/webprogram/2017/pdf/427.pdf, Domestic conference
May 2017

Model of generating and sharing intention: toward human-robot cooperation
Tuan Anh Nguyen; Chie Hieida; Takayuki Nagai
Oral presentation, Jsai2017, https://kaigi.org/jsai/webprogram/2017/pdf/981.pdf, Domestic conference
May 2017

A Model of Emotion for Humans-Robots Communication
Chie Hieida; Takayuki Nagai
Oral presentation, Jsai2017, https://kaigi.org/jsai/webprogram/2017/pdf/647.pdf, Domestic conference
May 2017

多層マルチモーダルLDAと強化学習を用いた概念と語彙の学習
宮澤和貴; 青木達哉; 日永田智絵; 岩田健輔; 中村友昭; 長井隆行
Japanese, 自律分散システム・シンポジウム(CD-ROM), http://jglobal.jst.go.jp/public/201702257823251129
30 Jan. 2017

多層マルチモーダルLDAを用いた概念形成と強化学習
宮澤和貴; 青木達哉; 日永田智絵; MATA David; 岩田健輔; 中村友昭; 長井隆行
Japanese, SSI2016, http://jglobal.jst.go.jp/public/201702281396080025
06 Dec. 2016

A Model of Emotion for Empathic Communication
Chie Hieida; Takayuki Nagai
Human-Agent Interaction Symposium 2016
03 Dec. 2016

人とロボットの関係性構築～パートナーロボットを目指して～
Chie Hieida
Invited oral presentation, 公益社団法人日本心理学会 公正研究会, Invited
Nov. 2016

多層マルチモーダルLDAと強化学習による行動学習
宮澤 和貴; 青木 達哉; 日永田 智絵; 中村 友昭; 長井 隆行
第34回日本ロボット学会学術講演会
Sep. 2016

正直シグナルのロボットへの応用 ～ホームサービスロボットに正直シグナルは必要か？～
日永田智絵; 阿部香澄; 中村 友昭; 長井隆行
日本ロボット学会インテリジェントホームロボティクス研究会
May 2016

ラッセル円環モデルとラバン理論を用いた飛行型ロボットの動作表現〜飛行型ペットロボット実現に向けた検討〜
日永田智絵; 工藤俊亮; 末廣尚士
HAIシンポジウム2015
Dec. 2015

幼児と祖父母をつなぐテレプレゼンス子育て支援ロボット―ニーズと課題の検討―
ABE KASUMI; PEI YACHAO; ZHANG TINGYI; HIEIDA CHIE; NAGAI TAKAYUKI
Japanese, 人工知能学会全国大会論文集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201502209043200832
2015

飛行型ロボットにおけるラバン理論を考慮した身体動作表現
日永田智絵; 工藤俊亮; 末廣尚士
HAIシンポジウム2014
Dec. 2014

ロボットと子どもの身体的コミュニケーション~手をつなぐことによる関係性の構築~
HIEIDA CHIE; ABE KASUMI; NAGAI TAKAYUKI
Japanese, 情報処理学会全国大会講演論文集, http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201402212161096791
11 Mar. 2014

ロボット‐子供遊び戦略と生体指標による評価
IWASAKI AKIKO; SHIMOTOMAI TAKAYUKI; ABE KASUMI; SHIGIHARA HIROAKI; ANDO YUJI; HIEIDA CHIE; ATTAMIMI MUHAMMAD; NAGAI TAKAYUKI; OMORI TAKASHI
Japanese, 日本感性工学会春季大会予稿集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201402257413100030
2014

子どもの性格を考慮して遊ぶロボットの実現に向けた基礎的検討
ABE KASUMI; HIEIDA CHIE; SHIGIHARA HIROAKI; NAGAI TAKAYUKI; SHIMOTOMAI TAKAYUKI; OMORI TAKASHI
Japanese, 人工知能学会全国大会論文集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201402201620935554
2014

人とロボットのフィジカルコミュニケーショ ン：手をつないで一緒に散歩するロボットの実現
日永田智絵; アッタミミムハンマド; 長井隆行; 下斗米貴之; 大森隆司
第14 回計測自動制御学会システムインテグレーション部門講演会 SI2013
Dec. 2013

ロボット‐子ども間の関係構築における手つなぎの影響
日永田智絵; 阿部香澄; 長井隆行; 下斗米貴之; 大森隆司
HAI シンポジウム2013
2013

JAPANESE COGNITIVE SCIENCE SOCIETY

THE JAPANESE SOCIETY FOR ARTIFICIAL INTELLIGENCE

ACM

THE ROBOTICS SOCIETY OF JAPAN

IEEE

Decision-making of survival and expansion regulated by interoception
大平 英樹; 木村 健太; 齋藤 菜月; 田邊 宏樹; 遠山 朝子; 日永田 智絵; 片平 健太郎; 上野 大介; 磯村 朋子
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Nagoya University, Grant-in-Aid for Scientific Research (A), 25H00579
01 Apr. 2025 - 31 Mar. 2029

摂食タスクを用いた情動反応モデルの構築
日永田 智絵
日本学術振興会, 科学研究費助成事業, 奈良先端科学技術大学院大学, 若手研究, 24K17239
01 Apr. 2024 - 31 Mar. 2029

嫉妬の科学推進のための戦略的研究推進支援
笠井 淳司; 田中 宏和; 野村 洋; 揚妻 正和; 日永田 智絵; 則武 厚
日本学術振興会, 科学研究費助成事業 学術変革領域研究(B), 大阪大学, 学術変革領域研究(B), 22H05079
20 May 2022 - 31 Mar. 2025

ロボットの嫉妬：嫉妬生成モジュールを用いた統合モデルの構築
日永田 智絵; 田中 宏和
日本学術振興会, 科学研究費助成事業 学術変革領域研究(B), 奈良先端科学技術大学院大学, 学術変革領域研究(B), 22H05082
20 May 2022 - 31 Mar. 2025

A Constitutive Approach to Social Emotion Differentiation based on Self-Other Discrimination
日永田 智絵
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists, Nara Institute of Science and Technology, Grant-in-Aid for Early-Career Scientists, 20K19907
01 Apr. 2020 - 31 Mar. 2024

感情を持つロボットの開発に向けた情動反応モデルの構築
日永田智絵
JST, 戦略的創造研究推進事業 ACT-X AI活用で挑む学問の革新と創成, 奈良先端科学技術大学院大学, Principal investigator
Oct. 2021 - Mar. 2024

人工物における社会的感情の実現
日永田智絵
奈良先端科学技術大学院大学, NAIST女性研究者スタートアップ研究費, 奈良先端科学技術大学院大学, Principal investigator
Feb. 2020 - Jan. 2022

感情モデルのカウンセリング適用
日永田智絵
日本神経回路学会, 日本神経回路学会30周年記念研究助成金, 奈良先端科学技術大学院大学, Principal investigator
Feb. 2020

パートナーロボットとの共感コミュニケーションに向けた感情分化の構成的アプローチ
Chie Hieida
JSPS, Research Fellow, Principal investigator
Apr. 2016 - Mar. 2019

遠隔遊び支援システム、心的状態・性格推定システム、遊び推定システム、方法およびプログラム
Patent right, 長井 隆行, 阿部 香澄, 濱田 侑輝, 日永田 智絵, 特願2016-225250, Date applied: 18 Nov. 2016, 国立大学法人電気通信大学, 特開2018-081631, Date announced: 24 May 2018,

ビデオチャットロボットシステム、手渡し遊び制御方法および手渡し遊び制御プログラム
Patent right, 長井 隆行, 阿部 香澄, 裴 雅超, 張 亭芸, 日永田 智絵, 特願2016-053021, Date applied: 16 Mar. 2016, 国立大学法人電気通信大学, 特開2017-164319, Date announced: 21 Sep. 2017,

Using artificial intelligence to understand how emotions are formed A computational model that combines physiological signals, sensory input, and word information to construct human emotions
Myself, AAAS, EurekAlert, Internet
Jan. 2026

科学技術への顕著な貢献2025（ナイスステップな研究者）を選定しました
科学技術・学術政策研究所 (NISTEP), プレスリリース, Internet
Dec. 2025

視覚・生理・言語情報を統合し「感情概念」を形成する計算モデルを開発 ～ヒトの情動を理解し、有効なコミュニケーションの構築に期待～
Myself, 奈良先端科学技術大学院大学, プレスリリース, Internet
Dec. 2025

日本科学未来館プレスリリース「「人と通じあうためのテクノロジー」をテーマに常設展示「ハロー！ ロボット」が一部リニューアル」
Other than myself, 日本科学未来館, 日本科学未来館プレスリリース, Internet
Jun. 2025

サイエンスインパクトラボ2023
Myself, JST RISTEX, サイエンスインパクトラボ, Internet
May 2024

河合塾みらいぶっく
Myself, 河合塾, みらいぶっく, Internet
Mar. 2024

日経トレンディ2024年1月号「テクノロジーの最新動向からニッポンの未来を読み解く 2024-2030 大予測」
日経トレンディ, 日経トレンディ2024年1月号, Paper
Dec. 2023

毎日新聞紙面「身体性で学ぶ感情」
毎日新聞, 毎日新聞, Paper
Nov. 2023

日経BPミライコトハジメ「ロボットに感情を持たせることはできるのか」
日経BP, ミライコトハジメ, Internet
Nov. 2023

日本ロボット学会 ロボ學「AI活用学問革新創成 学生座談会」
Myself, 日本ロボット学会, ロボ學, Internet
Oct. 2023

毎日新聞ニュースサイト「「感情」に近づくAI 赤ちゃんの身体や脳の発達に秘密か」
毎日新聞, 毎日新聞ニュースサイト, Internet
Oct. 2023

読売新聞オンライン「感情を理解し、人の心に寄り添うロボットを作る」
読売新聞, 読売新聞オンライン, Internet
Jul. 2023