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

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Title: DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self
Authors: Moulin-Frier, C
Fischer, T
Petit, M
Pointeau, G
Puigbo, JY
Pattacini, U
Low, SC
Camilleri, D
Nguyen, P
Hoffmann, M
Chang, HJ
Zambelli, M
Mealier, AL
Damianou, A
Metta, G
Prescott, TJ
Demiris, Y
Dominey, PF
Verschure, PFMJ
Item Type: Journal Article
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.
Issue Date: 1-Dec-2018
Date of Acceptance: 9-Aug-2017
URI: http://hdl.handle.net/10044/1/50801
DOI: https://doi.org/10.1109/TCDS.2017.2754143
ISSN: 2379-8920
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1005
End Page: 1022
Journal / Book Title: IEEE Transactions on Cognitive and Developmental Systems
Volume: 10
Issue: 4
Copyright Statement: © 2017 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.
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 612139
Keywords: Science & Technology
Technology
Life Sciences & Biomedicine
Computer Science, Artificial Intelligence
Robotics
Neurosciences
Computer Science
Neurosciences & Neurology
Autobiographical memory (ABM)
cognitive robotics
distributed adaptive control (DAC)
human-robot interaction (HRI)
symbol grounding
AUTOBIOGRAPHICAL MEMORY
LANGUAGE
MODEL
COMMUNICATION
INTEGRATION
ATTENTION
BEHAVIOR
SYSTEMS
Cognitive Robotics
Distributed Adaptive Control
Human-Robot Interaction
Symbol Grounding
Autobiographical Memory
cs.AI
cs.AI
cs.RO
Publication Status: Published
Online Publication Date: 2017-09-18
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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