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arXiv · 1706.03661

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

Clément Moulin-Frier·Tobias Fischer·Maxime Petit·Grégoire Pointeau·Jordi-Ysard Puigbo·Ugo Pattacini·Sock Ching Low·Daniel Camilleri·Phuong Nguyen·Matej Hoffmann·Hyung Jin Chang·Martina Zambelli·Anne-Laure Mealier·Andreas Damianou·Giorgio Metta·Tony J. Prescott·Yiannis Demiris·Peter Ford Dominey·Paul F. M. J. Verschure
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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.

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Clément Moulin-Frier, Tobias Fischer, Maxime Petit, Grégoire Pointeau, Jordi-Ysard Puigbo, Ugo Pattacini, Sock Ching Low, Daniel Camilleri, Phuong Nguyen, Matej Hoffmann, Hyung Jin Chang, Martina Zambelli, Anne-Laure Mealier, Andreas Damianou, Giorgio Metta, Tony J. Prescott, Yiannis Demiris, Peter Ford Dominey, Paul F. M. J. Verschure. 2017-06-12. DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self. https://doi.org/10.1109/tcds.2017.2754143

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