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