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28 March 2024
 
  » arxiv » 1706.3661

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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 ;
Date 12 Jun 2017
AbstractThis 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 a human-robot interaction experiment with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario.
Source arXiv, 1706.3661
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