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

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 an...

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Bibliographic Details
Published in:arXiv.org 2017-09
Main Authors: Moulin-Frier, Clément, Fischer, Tobias, Petit, Maxime, Pointeau, Grégoire, Jordi-Ysard Puigbo, Pattacini, Ugo, Low, Sock Ching, Camilleri, Daniel, Nguyen, Phuong, Hoffmann, Matej, Hyung Jin Chang, Zambelli, Martina, Mealier, Anne-Laure, Damianou, Andreas, Metta, Giorgio, Prescott, Tony J, Demiris, Yiannis, Peter Ford Dominey, Paul F M J Verschure
Format: Article
Language:English
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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.
ISSN:2331-8422
DOI:10.48550/arxiv.1706.03661