DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain an...
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| Veröffentlicht in: | arXiv.org 2017-09 |
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| creator | Moulin-Frier, Clément Fischer, Tobias Petit, Maxime Pointeau, Grégoire Jordi-Ysard Puigbo Pattacini, Ugo Low, Sock Ching Camilleri, Daniel Nguyen, Phuong Hoffmann, Matej Hyung Jin Chang Zambelli, Martina Mealier, Anne-Laure Damianou, Andreas Metta, Giorgio Prescott, Tony J Demiris, Yiannis Peter Ford Dominey Paul F M J Verschure |
| description | This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the-art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users. |
| doi_str_mv | 10.48550/arxiv.1706.03661 |
| format | Article |
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The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the-art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. 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| source | Freely Accessible Journals; arXiv.org |
| subjects | Algorithms Brain Computer Science - Artificial Intelligence Computer Science - Robotics Human engineering Humanoid Machine learning Robots |
| title | DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self |
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