DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self
| Autor: | 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. |
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| Rok vydání: | 2017 |
| Předmět: | |
| Zdroj: | IEEE Transactions on Cognitive and Developmental Systems 10 (4), 1005-1022, 2018 |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/TCDS.2017.2754143 |
| Popis: | 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 |
| Databáze: | arXiv |
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