DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self

Kavli Affiliate: Peter Ford

| First 5 Authors: Clément Moulin-Frier, Tobias Fischer, Maxime Petit, Grégoire Pointeau, Jordi-Ysard Puigbo

| Summary:

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.

| Search Query: ArXiv Query: search_query=au:”Peter Ford”&id_list=&start=0&max_results=10

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