DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self

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• dc.contributor.author Moulin-Frier, Clément
• dc.contributor.author Fischer, Tobias
• dc.contributor.author Petit, Maxime
• dc.contributor.author Pointeau, Grégoire
• dc.contributor.author Puigbò Llobet, Jordi-Ysard
• dc.contributor.author Pattacini, Ugo
• dc.contributor.author Ching Low, Sock
• dc.contributor.author Camilleri, Daniel
• dc.contributor.author Nguyen, Phuong
• dc.contributor.author Hoffmann, Matej
• dc.contributor.author Jin Chang, Hyung
• dc.contributor.author Zambelli, Martina
• dc.contributor.author Mealier, Anne-Laure
• dc.contributor.author Metta, Giorgio
• dc.contributor.author Prescott, Tony J.
• dc.contributor.author Demiris, Yiannis
• dc.contributor.author Ford Dominey, Peter
• dc.contributor.author Verschure, Paul F. M. J.
• dc.date.accessioned 2021-06-29T08:06:19Z
• dc.date.available 2021-06-29T08:06:19Z
• dc.date.issued 2018
• dc.description.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 human and 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.
• dc.description.sponsorship This work was supported in part by the European Research Council through the European Union’s Seventh Framework Programme (FP/2007–2013), in part by the ERC through the What You Say Is What You Did project under Grant FP7-ICT-612139, and in part by the ERC’s CDAC Project—Role of Consciousness in Adaptive Behavior under Grant ERC-2013-ADG 341196. The work of D. Camilleri and T. Prescott was supported by the EU Seventh Framework Programme as part of the Human Brain (HBP-SGA1) under Project 720270. The work of P. Nguyen was supported by the ERC’s H2020 under Grant 642667 (SECURE). The work of M. Hoffmann was supported by the Czech Science Foundation under Project GA17-15697Y.
• dc.format.mimetype application/pdf
• dc.identifier.citation Moulin-Frier C, Fischer T, Petit M, Pointeau G, Puigbo JY, Pattacini U, Ching Low S, Camilleri D, Nguyen P, Hoffman M, Jin Chang H, Zambelli M, Mealier AL, Damianou A, Metta G, Prescott TJ, Demiris Y, Ford Dominey P, Verschure PFMJ. DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self. IEEE Trans Cogn Dev Syst. 2018;10(4):1005-22. DOI: 10.1109/TCDS.2017.2754143
• dc.identifier.doi http://dx.doi.org/10.1109/TCDS.2017.2754143
• dc.identifier.issn 2379-8920
• dc.identifier.uri http://hdl.handle.net/10230/47997
• dc.language.iso eng
• dc.publisher Institute of Electrical and Electronics Engineers (IEEE)
• dc.relation.ispartof IEEE Transactions on Cognitive and Developmental Systems. 2018;10(4):1005-22
• dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/612139
• dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/341196
• dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/720270
• dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/642667
• dc.rights © 2018 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. http://dx.doi.org/10.1109/TCDS.2017.2754143
• dc.rights.accessRights info:eu-repo/semantics/openAccess
• dc.subject.keyword Autobiographical memory (ABM)
• dc.subject.keyword Cognitive robotics
• dc.subject.keyword Distributed adaptive control (DAC)
• dc.subject.keyword Human–robot interaction (HRI)
• dc.subject.keyword Symbol grounding
• dc.title DAC-h3: a proactive robot cognitive architecture to acquire and express knowledge about the world and the self
• dc.type info:eu-repo/semantics/article
• dc.type.version info:eu-repo/semantics/acceptedVersion