학술논문
DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self
Document Type
Working Paper
Author
Moulin-Frier, Clément; Fischer, Tobias; Petit, Maxime; Pointeau, Grégoire; Puigbo, Jordi-Ysard; Pattacini, Ugo; Low, Sock Ching; Camilleri, Daniel; Nguyen, Phuong; Hoffmann, Matej; Chang, Hyung Jin; Zambelli, Martina; Mealier, Anne-Laure; Damianou, Andreas; Metta, Giorgio; Prescott, Tony J.; Demiris, Yiannis; Dominey, Peter Ford; Verschure, Paul F. M. J.
Source
IEEE Transactions on Cognitive and Developmental Systems 10 (4), 1005-1022, 2018
Subject
Language
Abstract
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.
Comment: Preprint version; final version available at http://ieeexplore.ieee.org/ IEEE Transactions on Cognitive and Developmental Systems (Accepted) DOI: 10.1109/TCDS.2017.2754143
Comment: Preprint version; final version available at http://ieeexplore.ieee.org/ IEEE Transactions on Cognitive and Developmental Systems (Accepted) DOI: 10.1109/TCDS.2017.2754143