Moulin-Frier, ClémentFischer, TobiasPetit, MaximePointeau, GrégoirePuigbò Llobet, Jordi-YsardPattacini, UgoChing Low, SockCamilleri, DanielNguyen, PhuongHoffmann, MatejJin Chang, HyungZambelli, MartinaMealier, Anne-LaureMetta, GiorgioPrescott, Tony J.Demiris, YiannisFord Dominey, PeterVerschure, Paul F. M. J.2021-06-292021-06-292018Moulin-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.2017.27541432379-8920http://hdl.handle.net/10230/47997This 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.application/pdfeng© 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.2017.2754143info:eu-repo/semantics/articlehttp://dx.doi.org/10.1109/TCDS.2017.2754143Autobiographical memory (ABM)Cognitive roboticsDistributed adaptive control (DAC)Human–robot interaction (HRI)Symbol groundinginfo:eu-repo/semantics/openAccess