{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:27:27Z","timestamp":1750220847198,"version":"3.41.0"},"reference-count":50,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2019,11,15]],"date-time":"2019-11-15T00:00:00Z","timestamp":1573776000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"crossref","award":["FP-7-214668"],"award-info":[{"award-number":["FP-7-214668"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"crossref"}]},{"name":"EU Integrated Project ITALK"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2019,12,31]]},"abstract":"<jats:p>\u201cNo\u201d is one of the first ten words used by children and embodies the first form of linguistic negation. Despite its early occurrence, the details of its acquisition remain largely unknown. The circumstance that \u201cno\u201d cannot be construed as a label for perceptible objects or events puts it outside the scope of most modern accounts of language acquisition. Moreover, most symbol grounding architectures will struggle to ground the word due to its non-referential character. The presented work extends symbol grounding to encompass affect and motivation. In a study involving the child-like robot iCub, we attempt to illuminate the acquisition process of negation words. The robot is deployed in speech-wise unconstrained interaction with participants acting as its language teachers. The results corroborate the hypothesis that affect or volition plays a pivotal role in the acquisition process. Negation words are prosodically salient within prohibitive utterances and negative intent interpretations such that they can be easily isolated from the teacher\u2019s speech signal. These words subsequently may be grounded in negative affective states. However, observations of the nature of prohibition and the temporal relationships between its linguistic and extra-linguistic components raise questions over the suitability of Hebbian-type algorithms for certain types of language grounding.<\/jats:p>","DOI":"10.1145\/3359618","type":"journal-article","created":{"date-parts":[[2019,11,15]],"date-time":"2019-11-15T21:16:57Z","timestamp":1573852617000},"page":"1-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":6,"title":["Robots Learning to Say \u201cNo\u201d"],"prefix":"10.1145","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1797-682X","authenticated-orcid":false,"given":"Frank","family":"F\u00f6rster","sequence":"first","affiliation":[{"name":"University of Hertfordshire, Hatfield, UK"}]},{"given":"Joe","family":"Saunders","sequence":"additional","affiliation":[{"name":"University of Hertfordshire, Hatfield, UK"}]},{"given":"Hagen","family":"Lehmann","sequence":"additional","affiliation":[{"name":"Universit\u00e0 di Macerata, Italy and University of Hertfordshire, Hatfield, UK"}]},{"given":"Chrystopher L.","family":"Nehaniv","sequence":"additional","affiliation":[{"name":"University of Hertfordshire, UK and University of Waterloo, Waterloo, Canada"}]}],"member":"320","published-online":{"date-parts":[[2019,11,15]]},"reference":[{"key":"e_1_2_2_1_1","unstructured":"David W. 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