1
|
Ye P, Wang T, Wang FY. A Survey of Cognitive Architectures in the Past 20 Years. IEEE TRANSACTIONS ON CYBERNETICS 2018; 48:3280-3290. [PMID: 30072355 DOI: 10.1109/tcyb.2018.2857704] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Building autonomous systems that achieve human level intelligence is one of the primary objectives in artificial intelligence (AI). It requires the study of a wide range of functions robustly across different phases of human cognition. This paper presents a review of agent cognitive architectures in the past 20 year's AI research. Different from software structures and simulation environments, most of the architectures concerned are established from mathematics and philosophy. They are categorized according to their knowledge processing patterns-symbolic, emergent or hybrid. All the relevant literature can be accessed publicly, particularly through the Internet. Available websites are also summarized for further reference.
Collapse
|
2
|
Moulin-Frier C, Fischer T, Petit M, Pointeau G, Puigbo JY, Pattacini U, Low SC, Camilleri D, Nguyen P, Hoffmann M, Chang HJ, Zambelli M, Mealier AL, Damianou A, Metta G, Prescott TJ, Demiris Y, Dominey PF, 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. [DOI: 10.1109/tcds.2017.2754143] [Citation(s) in RCA: 29] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
3
|
|
4
|
|
5
|
Fischer T, Puigbò JY, Camilleri D, Nguyen PDH, Moulin-Frier C, Lallée S, Metta G, Prescott TJ, Demiris Y, Verschure PFMJ. iCub-HRI: A Software Framework for Complex Human-Robot Interaction Scenarios on the iCub Humanoid Robot. Front Robot AI 2018; 5:22. [PMID: 33500909 PMCID: PMC7805865 DOI: 10.3389/frobt.2018.00022] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/31/2017] [Accepted: 02/21/2018] [Indexed: 11/16/2022] Open
Abstract
Generating complex, human-like behavior in a humanoid robot like the iCub requires the integration of a wide range of open source components and a scalable cognitive architecture. Hence, we present the iCub-HRI library which provides convenience wrappers for components related to perception (object recognition, agent tracking, speech recognition, and touch detection), object manipulation (basic and complex motor actions), and social interaction (speech synthesis and joint attention) exposed as a C++ library with bindings for Java (allowing to use iCub-HRI within Matlab) and Python. In addition to previously integrated components, the library allows for simple extension to new components and rapid prototyping by adapting to changes in interfaces between components. We also provide a set of modules which make use of the library, such as a high-level knowledge acquisition module and an action recognition module. The proposed architecture has been successfully employed for a complex human–robot interaction scenario involving the acquisition of language capabilities, execution of goal-oriented behavior and expression of a verbal narrative of the robot’s experience in the world. Accompanying this paper is a tutorial which allows a subset of this interaction to be reproduced. The architecture is aimed at researchers familiarizing themselves with the iCub ecosystem, as well as expert users, and we expect the library to be widely used in the iCub community.
Collapse
Affiliation(s)
- Tobias Fischer
- Personal Robotics Laboratory, Electrical and Electronic Engineering Department, Imperial College, London, United Kingdom
| | - Jordi-Ysard Puigbò
- Synthetic Perceptive Emotive and Cognitive Systems Group (SPECS), Universitat Pompeu Fabra, Barcelona, Spain.,Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology, Barcelona, Spain
| | - Daniel Camilleri
- Department of Computer Science, University of Sheffield, Sheffield, United Kingdom
| | | | - Clément Moulin-Frier
- Synthetic Perceptive Emotive and Cognitive Systems Group (SPECS), Universitat Pompeu Fabra, Barcelona, Spain
| | - Stéphane Lallée
- Synthetic Perceptive Emotive and Cognitive Systems Group (SPECS), Universitat Pompeu Fabra, Barcelona, Spain
| | - Giorgio Metta
- iCub Facility, Istituto Italiano di Tecnologia, Genova, Italy
| | - Tony J Prescott
- Department of Computer Science, University of Sheffield, Sheffield, United Kingdom
| | - Yiannis Demiris
- Personal Robotics Laboratory, Electrical and Electronic Engineering Department, Imperial College, London, United Kingdom
| | - Paul F M J Verschure
- Synthetic Perceptive Emotive and Cognitive Systems Group (SPECS), Universitat Pompeu Fabra, Barcelona, Spain.,Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology, Barcelona, Spain.,ICREA-Institució Catalana de Recerca i Estudis Avançats, Barcelona, Spain
| |
Collapse
|
6
|
Verschure PFMJ. Synthetic consciousness: the distributed adaptive control perspective. Philos Trans R Soc Lond B Biol Sci 2016; 371:20150448. [PMID: 27431526 PMCID: PMC4958942 DOI: 10.1098/rstb.2015.0448] [Citation(s) in RCA: 25] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 05/18/2016] [Indexed: 02/06/2023] Open
Abstract
Understanding the nature of consciousness is one of the grand outstanding scientific challenges. The fundamental methodological problem is how phenomenal first person experience can be accounted for in a third person verifiable form, while the conceptual challenge is to both define its function and physical realization. The distributed adaptive control theory of consciousness (DACtoc) proposes answers to these three challenges. The methodological challenge is answered relative to the hard problem and DACtoc proposes that it can be addressed using a convergent synthetic methodology using the analysis of synthetic biologically grounded agents, or quale parsing. DACtoc hypothesizes that consciousness in both its primary and secondary forms serves the ability to deal with the hidden states of the world and emerged during the Cambrian period, affording stable multi-agent environments to emerge. The process of consciousness is an autonomous virtualization memory, which serializes and unifies the parallel and subconscious simulations of the hidden states of the world that are largely due to other agents and the self with the objective to extract norms. These norms are in turn projected as value onto the parallel simulation and control systems that are driving action. This functional hypothesis is mapped onto the brainstem, midbrain and the thalamo-cortical and cortico-cortical systems and analysed with respect to our understanding of deficits of consciousness. Subsequently, some of the implications and predictions of DACtoc are outlined, in particular, the prediction that normative bootstrapping of conscious agents is predicated on an intentionality prior. In the view advanced here, human consciousness constitutes the ultimate evolutionary transition by allowing agents to become autonomous with respect to their evolutionary priors leading to a post-biological Anthropocene.This article is part of the themed issue 'The major synthetic evolutionary transitions'.
Collapse
Affiliation(s)
- Paul F M J Verschure
- Laboratory of Synthetic Perceptive, Emotive and Cognitive Systems, Center of Autonomous Systems and Neurorobotics, Universitat Pompeu Fabra, Barcelona, Spain ICREA-Institució Catalana de Recerca i Estudis Avançats, 08018 Barcelona, Spain
| |
Collapse
|
7
|
Haber RE, Juanes C, del Toro R, Beruvides G. Artificial cognitive control with self-x capabilities: A case study of a micro-manufacturing process. COMPUT IND 2015. [DOI: 10.1016/j.compind.2015.05.001] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
|
8
|
Mathews Z, Cetnarski R, Verschure PFMJ. Visual anticipation biases conscious decision making but not bottom-up visual processing. Front Psychol 2015; 5:1443. [PMID: 25741290 PMCID: PMC4330879 DOI: 10.3389/fpsyg.2014.01443] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/23/2014] [Accepted: 11/25/2014] [Indexed: 11/17/2022] Open
Abstract
Prediction plays a key role in control of attention but it is not clear which aspects of prediction are most prominent in conscious experience. An evolving view on the brain is that it can be seen as a prediction machine that optimizes its ability to predict states of the world and the self through the top-down propagation of predictions and the bottom-up presentation of prediction errors. There are competing views though on whether prediction or prediction errors dominate the formation of conscious experience. Yet, the dynamic effects of prediction on perception, decision making and consciousness have been difficult to assess and to model. We propose a novel mathematical framework and a psychophysical paradigm that allows us to assess both the hierarchical structuring of perceptual consciousness, its content and the impact of predictions and/or errors on conscious experience, attention and decision-making. Using a displacement detection task combined with reverse correlation, we reveal signatures of the usage of prediction at three different levels of perceptual processing: bottom-up fast saccades, top-down driven slow saccades and consciousnes decisions. Our results suggest that the brain employs multiple parallel mechanism at different levels of perceptual processing in order to shape effective sensory consciousness within a predicted perceptual scene. We further observe that bottom-up sensory and top-down predictive processes can be dissociated through cognitive load. We propose a probabilistic data association model from dynamical systems theory to model the predictive multi-scale bias in perceptual processing that we observe and its role in the formation of conscious experience. We propose that these results support the hypothesis that consciousness provides a time-delayed description of a task that is used to prospectively optimize real time control structures, rather than being engaged in the real-time control of behavior itself.
Collapse
Affiliation(s)
- Zenon Mathews
- Synthetic, Perceptive, Emotive and Cognitive Systems Group, Department of Technology, Information and Communication, Center of Autonomous Systems and Neurorobotics, Universitat Pompeu Fabra Barcelona, Spain
| | - Ryszard Cetnarski
- Synthetic, Perceptive, Emotive and Cognitive Systems Group, Department of Technology, Information and Communication, Center of Autonomous Systems and Neurorobotics, Universitat Pompeu Fabra Barcelona, Spain
| | - Paul F M J Verschure
- Synthetic, Perceptive, Emotive and Cognitive Systems Group, Department of Technology, Information and Communication, Center of Autonomous Systems and Neurorobotics, Universitat Pompeu Fabra Barcelona, Spain ; Institucio Catalana de Recerca i Estudis Avançats, Passeig Llus Companys Barcelona, Spain
| |
Collapse
|
9
|
Lanillos P, Gan SK, Besada-Portas E, Pajares G, Sukkarieh S. Multi-UAV target search using decentralized gradient-based negotiation with expected observation. Inf Sci (N Y) 2014. [DOI: 10.1016/j.ins.2014.05.054] [Citation(s) in RCA: 31] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/25/2022]
|
10
|
|
11
|
Betella A, Zucca R, Cetnarski R, Greco A, Lanatà A, Mazzei D, Tognetti A, Arsiwalla XD, Omedas P, De Rossi D, Verschure PFMJ. Inference of human affective states from psychophysiological measurements extracted under ecologically valid conditions. Front Neurosci 2014; 8:286. [PMID: 25309310 PMCID: PMC4173664 DOI: 10.3389/fnins.2014.00286] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2014] [Accepted: 08/22/2014] [Indexed: 11/24/2022] Open
Abstract
Compared to standard laboratory protocols, the measurement of psychophysiological signals in real world experiments poses technical and methodological challenges due to external factors that cannot be directly controlled. To address this problem, we propose a hybrid approach based on an immersive and human accessible space called the eXperience Induction Machine (XIM), that incorporates the advantages of a laboratory within a life-like setting. The XIM integrates unobtrusive wearable sensors for the acquisition of psychophysiological signals suitable for ambulatory emotion research. In this paper, we present results from two different studies conducted to validate the XIM as a general-purpose sensing infrastructure for the study of human affective states under ecologically valid conditions. In the first investigation, we recorded and classified signals from subjects exposed to pictorial stimuli corresponding to a range of arousal levels, while they were free to walk and gesticulate. In the second study, we designed an experiment that follows the classical conditioning paradigm, a well-known procedure in the behavioral sciences, with the additional feature that participants were free to move in the physical space, as opposed to similar studies measuring physiological signals in constrained laboratory settings. Our results indicate that, by using our sensing infrastructure, it is indeed possible to infer human event-elicited affective states through measurements of psychophysiological signals under ecological conditions.
Collapse
Affiliation(s)
- Alberto Betella
- Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Universitat Pompeu Fabra Barcelona, Spain
| | - Riccardo Zucca
- Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Universitat Pompeu Fabra Barcelona, Spain
| | - Ryszard Cetnarski
- Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Universitat Pompeu Fabra Barcelona, Spain
| | - Alberto Greco
- Research Centre "E. Piaggio", University of Pisa Pisa, Italy ; Information Engineering Department, University of Pisa Pisa, Italy
| | - Antonio Lanatà
- Research Centre "E. Piaggio", University of Pisa Pisa, Italy ; Information Engineering Department, University of Pisa Pisa, Italy
| | - Daniele Mazzei
- Research Centre "E. Piaggio", University of Pisa Pisa, Italy
| | - Alessandro Tognetti
- Research Centre "E. Piaggio", University of Pisa Pisa, Italy ; Information Engineering Department, University of Pisa Pisa, Italy
| | - Xerxes D Arsiwalla
- Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Universitat Pompeu Fabra Barcelona, Spain
| | - Pedro Omedas
- Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Universitat Pompeu Fabra Barcelona, Spain
| | - Danilo De Rossi
- Research Centre "E. Piaggio", University of Pisa Pisa, Italy ; Information Engineering Department, University of Pisa Pisa, Italy
| | - Paul F M J Verschure
- Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Universitat Pompeu Fabra Barcelona, Spain ; ICREA, Institució Catalana de Recerca i Estudis Avançats Barcelona, Spain
| |
Collapse
|
12
|
Zucca R, Verschure PFMJ. Prefrontal cortical modulation of information flow in a large-scale model of the cortico-thalamic circuit. BMC Neurosci 2013. [PMCID: PMC3704758 DOI: 10.1186/1471-2202-14-s1-p410] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022] Open
|
13
|
|