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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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![]() | Accepted version | 3.23 MB | Adobe PDF | View/Open |
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: | Electrical and Electronic Engineering Faculty of Engineering |