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 human and robot. The framework, based on a biologically grounded theory of the brain and mind,...

ver descrição completa

Detalhes bibliográficos
Autores: Moulin-Frier, Clément, Fischer, Tobias, Petit, Maxime, Pointeau, Grégoire, Puigbò Llobet, Jordi-Ysard, Pattacini, Ugo, Ching Low, Sock, Camilleri, Daniel, Nguyen, Phuong, Hoffmann, Matej, Jin Chang, Hyung, Zambelli, Martina, Mealier, Anne-Laure, Metta, Giorgio, Prescott, Tony J., Demiris, Yiannis, Ford Dominey, Peter, Verschure, Paul F. M. J.
Formato: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2018
País:España
Recursos:Universitat Pompeu Fabra
Repositorio:Repositorio Digital de la UPF
OAI Identifier:oai:repositori.upf.edu:10230/47997
Acesso em linha:http://hdl.handle.net/10230/47997
http://dx.doi.org/10.1109/TCDS.2017.2754143
Access Level:acceso abierto
Palavra-chave:Autobiographical memory (ABM)
Cognitive robotics
Distributed adaptive control (DAC)
Human–robot interaction (HRI)
Symbol grounding
id ES_c234cc1c9d43da29e88d3bb91066beee
oai_identifier_str oai:repositori.upf.edu:10230/47997
network_acronym_str ES
network_name_str España
repository_id_str
spelling DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the selfMoulin-Frier, ClémentFischer, TobiasPetit, MaximePointeau, GrégoirePuigbò Llobet, Jordi-YsardPattacini, UgoChing Low, SockCamilleri, DanielNguyen, PhuongHoffmann, MatejJin Chang, HyungZambelli, MartinaMealier, Anne-LaureMetta, GiorgioPrescott, Tony J.Demiris, YiannisFord Dominey, PeterVerschure, Paul F. M. J.Autobiographical memory (ABM)Cognitive roboticsDistributed adaptive control (DAC)Human–robot interaction (HRI)Symbol groundingThis 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 human and 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.This work was supported in part by the European Research Council through the European Union’s Seventh Framework Programme (FP/2007–2013), in part by the ERC through the What You Say Is What You Did project under Grant FP7-ICT-612139, and in part by the ERC’s CDAC Project—Role of Consciousness in Adaptive Behavior under Grant ERC-2013-ADG 341196. The work of D. Camilleri and T. Prescott was supported by the EU Seventh Framework Programme as part of the Human Brain (HBP-SGA1) under Project 720270. The work of P. Nguyen was supported by the ERC’s H2020 under Grant 642667 (SECURE). The work of M. Hoffmann was supported by the Czech Science Foundation under Project GA17-15697Y.Institute of Electrical and Electronics Engineers (IEEE)202120212018info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionapplication/pdfapplication/pdfhttp://hdl.handle.net/10230/47997http://dx.doi.org/10.1109/TCDS.2017.2754143reponame:Repositorio Digital de la UPFinstname:Universitat Pompeu FabraInglésIEEE Transactions on Cognitive and Developmental Systems. 2018;10(4):1005-22info:eu-repo/grantAgreement/EC/FP7/612139info:eu-repo/grantAgreement/EC/FP7/341196info:eu-repo/grantAgreement/EC/FP7/720270info:eu-repo/grantAgreement/EC/H2020/642667© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. http://dx.doi.org/10.1109/TCDS.2017.2754143info:eu-repo/semantics/openAccessoai:repositori.upf.edu:10230/479972026-06-12T07:21:37Z
dc.title.none.fl_str_mv DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
title DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
spellingShingle DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
Moulin-Frier, Clément
Autobiographical memory (ABM)
Cognitive robotics
Distributed adaptive control (DAC)
Human–robot interaction (HRI)
Symbol grounding
title_short DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
title_full DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
title_fullStr DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
title_full_unstemmed DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
title_sort DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
dc.creator.none.fl_str_mv Moulin-Frier, Clément
Fischer, Tobias
Petit, Maxime
Pointeau, Grégoire
Puigbò Llobet, Jordi-Ysard
Pattacini, Ugo
Ching Low, Sock
Camilleri, Daniel
Nguyen, Phuong
Hoffmann, Matej
Jin Chang, Hyung
Zambelli, Martina
Mealier, Anne-Laure
Metta, Giorgio
Prescott, Tony J.
Demiris, Yiannis
Ford Dominey, Peter
Verschure, Paul F. M. J.
author Moulin-Frier, Clément
author_facet Moulin-Frier, Clément
Fischer, Tobias
Petit, Maxime
Pointeau, Grégoire
Puigbò Llobet, Jordi-Ysard
Pattacini, Ugo
Ching Low, Sock
Camilleri, Daniel
Nguyen, Phuong
Hoffmann, Matej
Jin Chang, Hyung
Zambelli, Martina
Mealier, Anne-Laure
Metta, Giorgio
Prescott, Tony J.
Demiris, Yiannis
Ford Dominey, Peter
Verschure, Paul F. M. J.
author_role author
author2 Fischer, Tobias
Petit, Maxime
Pointeau, Grégoire
Puigbò Llobet, Jordi-Ysard
Pattacini, Ugo
Ching Low, Sock
Camilleri, Daniel
Nguyen, Phuong
Hoffmann, Matej
Jin Chang, Hyung
Zambelli, Martina
Mealier, Anne-Laure
Metta, Giorgio
Prescott, Tony J.
Demiris, Yiannis
Ford Dominey, Peter
Verschure, Paul F. M. J.
author2_role author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Autobiographical memory (ABM)
Cognitive robotics
Distributed adaptive control (DAC)
Human–robot interaction (HRI)
Symbol grounding
topic Autobiographical memory (ABM)
Cognitive robotics
Distributed adaptive control (DAC)
Human–robot interaction (HRI)
Symbol grounding
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 human and 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.
publishDate 2018
dc.date.none.fl_str_mv 2018
2021
2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10230/47997
http://dx.doi.org/10.1109/TCDS.2017.2754143
url http://hdl.handle.net/10230/47997
http://dx.doi.org/10.1109/TCDS.2017.2754143
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv IEEE Transactions on Cognitive and Developmental Systems. 2018;10(4):1005-22
info:eu-repo/grantAgreement/EC/FP7/612139
info:eu-repo/grantAgreement/EC/FP7/341196
info:eu-repo/grantAgreement/EC/FP7/720270
info:eu-repo/grantAgreement/EC/H2020/642667
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:Repositorio Digital de la UPF
instname:Universitat Pompeu Fabra
instname_str Universitat Pompeu Fabra
reponame_str Repositorio Digital de la UPF
collection Repositorio Digital de la UPF
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869418645807955968
score 15,812455

Registos relacionados