ACT-R/E: An Embodied Cognitive Architecture for Human-Robot Interaction

Neural Dynamic Principles for an Intentional Embodied Agent

How situated embodied agents may achieve goals using knowledge is the classical question of natural and artificial intelligence. How organisms achieve this with their nervous systems is a central challenge for a neural theory of embodied cognition. To structure this challenge, we borrow terms from Searle's analysis of intentionality in its two directions of fit and six psychological modes (perception, memory, belief, intention-in-action, prior intention, desire). We postulate that intentional states are instantiated by neural activation patterns that are stabilized by neural interaction. Dynamic instabilities provide the neural mechanism for initiating and terminating intentional states and are critical to organizing sequences of intentional states. Beliefs represented by networks of concept nodes are autonomously learned and activated in response to desired outcomes. The neural dynamic principles of an intentional agent are demonstrated in a toy scenario in which a robotic agent explores an environment and paints objects in desired colors based on learned color transformation rules.

Enhanced temporal resolution of vision in action video game players

Video game play has been suggested to improve visual and attention processing. Nevertheless, while action video game play is highly dynamic, there is scarce research on how information is temporally discriminated at the millisecond level. This cross-sectional study investigates whether temporal discrimination at the millisecond level in vision varies across action video game players (VGPs; N = 23) and non-video game players (NVGPs; N = 23). Participants discriminated synchronous from asynchronous onsets of two visual targets in virtual reality, while their EEG and oculomotor movements were recorded. Results show an increased sensitivity to short asynchronies (11, 33 and 66 ms) in VGPs compared with NVGPs, which was especially marked at the start of the task, suggesting better temporal discrimination abilities. Pre-targets oculomotor freezing - the inhibition of small fixational saccades - was associated with correct temporal discrimination, probably revealing attentional preparation. However, this parameter did not differ between groups. EEG and reconstruction analyses suggest that the enhancement of temporal discrimination in VGPs during temporal discrimination is related to parieto-occipital processing, and a reduction of alpha-band (8-14 Hz) power and inter-trial phase coherence. Overall, the study reveals an enhanced ability in action video game players to discriminate in time visual events in close temporal proximity combined with reduced alpha-band oscillatory activities. Consequently, playing action video games is associated with an improved temporal resolution of vision.

Towards Living Machines: current and future trends of tactile sensing, grasping, and social robotics

The development of future technologies can be highly influenced by our deeper understanding of the principles that underlie living organisms. The Living Machines conference aims at presenting (among others) the interdisciplinary work of behaving systems based on such principles. Celebrating the 10 years of the conference, we present the progress and future challenges of some of the key themes presented in the robotics workshop of the Living Machines conference. More specifically, in this perspective paper, we focus on the advances in the field of biomimetics and robotics for the creation of artificial systems that can robustly interact with their environment, ranging from tactile sensing, grasping, and manipulation to the creation of psychologically plausible agents.

Examining the Effect of Interruptions at Different Breakpoints and Frequencies Within a Task

OBJECTIVE

The purpose was to explore how event segmentation theory (EST) can be used to determine optimal moments for an interruption relying on hierarchical task analysis (HTA) to identify coarse and fine event boundaries.

BACKGROUND

Research on the effects of interruptions shows that they can be either disruptive or beneficial, depending on which aspects of an interruption are manipulated. Two important aspects that contribute to these conflicting results concern when and how often interruptions occur.

METHOD

Undergraduates completed a trip planning task divided into three subtasks. The within-subjects factor was interruption timing with three levels: none, coarse breakpoints, and fine breakpoints. The between-subjects factor was interruption frequency with two levels: one and three. The dependent measures included resumption lag, number of errors, mental workload, and frustration.

RESULTS

Participants took longer to resume the primary task and reported higher mental workload when interruptions occurred at fine breakpoints. The effect of interruptions at coarse breakpoints was similar to completing the task without interruption. Interruption frequency had no effect on performance; however, participants spent significantly longer attending to interruptions in the initial task, and within a task, the first and second interruptions were attended to significantly longer than the third interruption.

CONCLUSION

The disruptiveness of an interruption is tied to the point within the task hierarchy where it occurs.

APPLICATION

The performance cost associated with interruptions must be considered within the task structure. Interruptions occurring at coarse breakpoints may not be disruptive or have a negative effect on mental workload.

A Survey on Recent Advances in Social Robotics

Over decades, social robotics has evolved as a concept that presently covers different areas of application, and interacts with different domains in technology, education, medicine and others. Today, it is possible to envision social robots in tasks that were not expected years ago, and that is not only due to the evolution of social robots, but also to the evolution of the vision humans have for them. This survey addresses recent advances in social robotics from different perspectives. Different contexts and areas of application of social robots are addressed, as well as modalities of interaction with humans. Different robotic platforms used in social contexts are shown and discussed. Relationships of social robotics with advances in other technological areas are surveyed, and methods and metrics used for the human evaluation of the interaction with robots are presented. The future of social robotics is also envisioned based on surveyed works and from different points of view.

Validating and Refining Cognitive Process Models Using Probabilistic Graphical Models

We describe a new approach for developing and validating cognitive process models. In our methodology, graphical models (specifically, hidden Markov models) are developed both from human empirical data on a task and synthetic data traces generated by a cognitive process model of human behavior on the task. Differences between the two graphical models can then be used to drive model refinement. We show that iteratively using this methodology can unveil substantive and nuanced imperfections of cognitive process models that can then be addressed to increase their fidelity to empirical data.

Multiple Levels of Heuristic Reasoning Processes in Scientific Model Construction

Science historians have recognized the importance of heuristic reasoning strategies for constructing theories, but their extent and degree of organization are still poorly understood. This paper first consolidates a set of important heuristic strategies for constructing scientific models from three books, including studies in the history of genetics and electromagnetism, and an expert think-aloud study in the field of mechanics. The books focus on qualitative reasoning strategies (processes) involved in creative model construction, scientific breakthroughs, and conceptual change. Twenty four processes are examined, most of which are field-general, but all are heuristic in not being guaranteed to work. An organizing framework is then proposed as a four-level hierarchy of nested reasoning processes and subprocesses at different size and time scales, including: Level (L4) Several longer-time-scale Major Modeling Modes, such as Model Evolution and Model Competition; the former mode utilizes: (L3) Modeling Cycle Phases of Model Generation, Evaluation, and Modification under Constraints; which can utilize: (L2) Thirteen Tactical Heuristic Processes, e.g., Analogy, Infer new model feature (e.g., by running the model), etc.; many of which selectively utilize: (L1) Grounded Imagistic Processes, namely Mental Simulations and Structural Transformations. Incomplete serial ordering in the framework gives it an intermediate degree of organization that is neither anarchistic nor fully algorithmic. Its organizational structure is hypothesized to promote a difficult balance between divergent and convergent processes as it alternates between them in modeling cycles with increasingly constrained modifications. Videotaped think-aloud protocols that include depictive gestures and other imagery indicators indicate that the processes in L1 above can be imagistic. From neurological evidence that imagery uses many of the same brain regions as actual perception and action, it is argued that these expert reasoning processes are grounded in the sense of utilizing the perceptual and motor systems, and interconnections to and possible benefits for reasoning processes at higher levels are examined. The discussion examines whether this grounding and the various forms of organization in the framework may begin to explain how processes that are only sometimes useful and not guaranteed to work can combine successfully to achieve innovative scientific model construction.

Self-Explaining Social Robots: An Explainable Behavior Generation Architecture for Human-Robot Interaction

In recent years, the ability of intelligent systems to be understood by developers and users has received growing attention. This holds in particular for social robots, which are supposed to act autonomously in the vicinity of human users and are known to raise peculiar, often unrealistic attributions and expectations. However, explainable models that, on the one hand, allow a robot to generate lively and autonomous behavior and, on the other, enable it to provide human-compatible explanations for this behavior are missing. In order to develop such a self-explaining autonomous social robot, we have equipped a robot with own needs that autonomously trigger intentions and proactive behavior, and form the basis for understandable self-explanations. Previous research has shown that undesirable robot behavior is rated more positively after receiving an explanation. We thus aim to equip a social robot with the capability to automatically generate verbal explanations of its own behavior, by tracing its internal decision-making routes. The goal is to generate social robot behavior in a way that is generally interpretable, and therefore explainable on a socio-behavioral level increasing users' understanding of the robot's behavior. In this article, we present a social robot interaction architecture, designed to autonomously generate social behavior and self-explanations. We set out requirements for explainable behavior generation architectures and propose a socio-interactive framework for behavior explanations in social human-robot interactions that enables explaining and elaborating according to users' needs for explanation that emerge within an interaction. Consequently, we introduce an interactive explanation dialog flow concept that incorporates empirically validated explanation types. These concepts are realized within the interaction architecture of a social robot, and integrated with its dialog processing modules. We present the components of this interaction architecture and explain their integration to autonomously generate social behaviors as well as verbal self-explanations. Lastly, we report results from a qualitative evaluation of a working prototype in a laboratory setting, showing that (1) the robot is able to autonomously generate naturalistic social behavior, and (2) the robot is able to verbally self-explain its behavior to the user in line with users' requests.

Theory of Mind and Preference Learning at the Interface of Cognitive Science, Neuroscience, and AI: A Review

Theory of Mind (ToM)-the ability of the human mind to attribute mental states to others-is a key component of human cognition. In order to understand other people's mental states or viewpoint and to have successful interactions with others within social and occupational environments, this form of social cognition is essential. The same capability of inferring human mental states is a prerequisite for artificial intelligence (AI) to be integrated into society, for example in healthcare and the motoring industry. Autonomous cars will need to be able to infer the mental states of human drivers and pedestrians to predict their behavior. In the literature, there has been an increasing understanding of ToM, specifically with increasing cognitive science studies in children and in individuals with Autism Spectrum Disorder. Similarly, with neuroimaging studies there is now a better understanding of the neural mechanisms that underlie ToM. In addition, new AI algorithms for inferring human mental states have been proposed with more complex applications and better generalisability. In this review, we synthesize the existing understanding of ToM in cognitive and neurosciences and the AI computational models that have been proposed. We focus on preference learning as an area of particular interest and the most recent neurocognitive and computational ToM models. We also discuss the limitations of existing models and hint at potential approaches to allow ToM models to fully express the complexity of the human mind in all its aspects, including values and preferences.

A Robotic Cognitive Control Framework for Collaborative Task Execution and Learning

In social and service robotics, complex collaborative tasks are expected to be executed while interacting with humans in a natural and fluent manner. In this scenario, the robotic system is typically provided with structured tasks to be accomplished, but must also continuously adapt to human activities, commands, and interventions. We propose to tackle these issues by exploiting the concept of cognitive control, introduced in cognitive psychology and neuroscience to describe the executive mechanisms needed to support adaptive responses and complex goal-directed behaviors. Specifically, we rely on a supervisory attentional system to orchestrate the execution of hierarchically organized robotic behaviors. This paradigm seems particularly effective not only for flexible plan execution but also for human-robot interaction, because it directly provides attention mechanisms considered as pivotal for implicit, non-verbal human-human communication. Following this approach, we are currently developing a robotic cognitive control framework enabling collaborative task execution and incremental task learning. In this paper, we provide a uniform overview of the framework illustrating its main features and discussing the potential of the supervisory attentional system paradigm in different scenarios where humans and robots have to collaborate for learning and executing everyday activities.

Action Selection and Execution in Everyday Activities: A Cognitive Robotics and Situation Model Perspective

We examine the mechanisms required to handle everyday activities from the standpoint of cognitive robotics, distinguishing activities on the basis of complexity and transparency. Task complexity (simple or complex) reflects the intrinsic nature of a task, while task transparency (easy or difficult) reflects an agent's ability to identify a solution strategy in a given task. We show how the CRAM cognitive architecture allows a robot to carry out simple and complex activities such as laying a table for a meal and loading a dishwasher afterward. It achieves this by using generalized action plans that exploit reasoning with modular, composable knowledge chunks representing general knowledge to transform underdetermined everyday action requests into motion plans that successfully accomplish the required task. Noting that CRAM does not yet have the ability to deal with difficult activities, we leverage insights from the situation model perspective on the cognitive mechanisms underlying flexible context-sensitive behavior with a view to extending CRAM to overcome this deficit.

Expressive Cognitive Architecture for a Curious Social Robot

Artificial curiosity, based on developmental psychology concepts wherein an agent attempts to maximize its learning progress, has gained much attention in recent years. Similarly, social robots are slowly integrating into our daily lives, in schools, factories, and in our homes. In this contribution, we integrate recent advances in artificial curiosity and social robots into a single expressive cognitive architecture. It is composed of artificial curiosity and social expressivity modules and their unique link, i.e., the robot verbally and non-verbally communicates its internally estimated learning progress, or learnability, to its human companion. We implemented this architecture in an interaction where a fully autonomous robot took turns with a child trying to select and solve tangram puzzles on a tablet. During the curious robot’s turn, it selected its estimated most learnable tangram to play, communicated its selection to the child, and then attempted at solving it. We validated the implemented architecture and showed that the robot learned, estimated its learnability, and improved when its selection was based on its learnability estimation. Moreover, we ran a comparison study between curious and non-curious robots, and showed that the robot’s curiosity-based behavior influenced the child’s selections. Based on the artificial curiosity module of the robot, we have formulated an equation that estimates each child’s moment-by-moment curiosity based on their selections. This analysis revealed an overall significant decrease in estimated curiosity during the interaction. However, this drop in estimated curiosity was significantly larger with the non-curious robot, compared to the curious one. These results suggest that the new architecture is a promising new approach to integrate state-of-the-art curiosity-based algorithms to the growing field of social robots.

Are friends electric? The benefits and risks of human-robot relationships

Social robots that can interact and communicate with people are growing in popularity for use at home and in customer-service, education, and healthcare settings. Although growing evidence suggests that co-operative and emotionally aligned social robots could benefit users across the lifespan, controversy continues about the ethical implications of these devices and their potential harms. In this perspective, we explore this balance between benefit and risk through the lens of human-robot relationships. We review the definitions and purposes of social robots, explore their philosophical and psychological status, and relate research on human-human and human-animal relationships to the emerging literature on human-robot relationships. Advocating a relational rather than essentialist view, we consider the balance of benefits and harms that can arise from different types of relationship with social robots and conclude by considering the role of researchers in understanding the ethical and societal impacts of social robotics.

ARCog: An Aerial Robotics Cognitive Architecture

Efficient algorithm integration is a key issue in aerial robotics. However, only a few integration solutions rely on a cognitive approach. Cognitive approaches break down complex problems into independent units that may deal with progressively lower-level data interfaces, all the way down to sensors and actuators. A cognitive architecture defines information flow among units to produce emergent intelligent behavior. Despite the improvements in autonomous decision-making, several key issues remain open. One of these issues is the selection, coordination, and decision-making related to the several specialized tasks required for fulfilling mission objectives. This work addresses decision-making for the cognitive unmanned-aerial-vehicle architecture coined as ARCog. The proposed architecture lays the groundwork for the development of a software platform aligned with the requirements of the state-of-the-art technology in the field. The system is designed to provide high-level decision-making. Experiments prove that ARCog works correctly in its target scenario.

Artificial Moral Agents: A Survey of the Current Status

One of the objectives in the field of artificial intelligence for some decades has been the development of artificial agents capable of coexisting in harmony with people and other systems. The computing research community has made efforts to design artificial agents capable of doing tasks the way people do, tasks requiring cognitive mechanisms such as planning, decision-making, and learning. The application domains of such software agents are evident nowadays. Humans are experiencing the inclusion of artificial agents in their environment as unmanned vehicles, intelligent houses, and humanoid robots capable of caring for people. In this context, research in the field of machine ethics has become more than a hot topic. Machine ethics focuses on developing ethical mechanisms for artificial agents to be capable of engaging in moral behavior. However, there are still crucial challenges in the development of truly Artificial Moral Agents. This paper aims to show the current status of Artificial Moral Agents by analyzing models proposed over the past two decades. As a result of this review, a taxonomy to classify Artificial Moral Agents according to the strategies and criteria used to deal with ethical problems is proposed. The presented review aims to illustrate (1) the complexity of designing and developing ethical mechanisms for this type of agent, and (2) that there is a long way to go (from a technological perspective) before this type of artificial agent can replace human judgment in difficult, surprising or ambiguous moral situations.

Analysing Cooking Behaviour in Home Settings: Towards Health Monitoring

Wellbeing is often affected by health-related conditions. Among them are nutrition-related health conditions, which can significantly decrease the quality of life. We envision a system that monitors the kitchen activities of patients and that based on the detected eating behaviour could provide clinicians with indicators for improving a patient’s health. To be successful, such system has to reason about the person’s actions and goals. To address this problem, we introduce a symbolic behaviour recognition approach, called Computational Causal Behaviour Models (CCBM). CCBM combines symbolic representation of person’s behaviour with probabilistic inference to reason about one’s actions, the type of meal being prepared, and its potential health impact. To evaluate the approach, we use a cooking dataset of unscripted kitchen activities, which contains data from various sensors in a real kitchen. The results show that the approach is able to reason about the person’s cooking actions. It is also able to recognise the goal in terms of type of prepared meal and whether it is healthy. Furthermore, we compare CCBM to state-of-the-art approaches such as Hidden Markov Models (HMM) and decision trees (DT). The results show that our approach performs comparable to the HMM and DT when used for activity recognition. It outperformed the HMM for goal recognition of the type of meal with median accuracy of 1 compared to median accuracy of 0.12 when applying the HMM. Our approach also outperformed the HMM for recognising whether a meal is healthy with a median accuracy of 1 compared to median accuracy of 0.5 with the HMM.

A Taxonomy in Robot-Assisted Training: Current Trends, Needs and Challenges

In this article, we present a taxonomy in Robot-Assisted Training; a growing body of research in Human–Robot Interaction which focuses on how robotic agents and devices can be used to enhance user’s performance during a cognitive or physical training task. Robot-Assisted Training systems have been successfully deployed to enhance the effects of a training session in various contexts, i.e., rehabilitation systems, educational environments, vocational settings, etc. The proposed taxonomy suggests a set of categories and parameters that can be used to characterize such systems, considering the current research trends and needs for the design, development and evaluation of Robot-Assisted Training systems. To this end, we review recent works and applications in Robot-Assisted Training systems, as well as related taxonomies in Human–Robot Interaction. The goal is to identify and discuss open challenges, highlighting the different aspects of a Robot-Assisted Training system, considering both robot perception and behavior control.

Robot Classification of Human Interruptibility and a Study of Its Effects

As robots become increasingly prevalent in human environments, there will inevitably be times when the robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile-robot system, which uses social and contextual cues online to accurately determine when to interrupt a person. We evaluate multiple non-temporal and temporal models on the interruptibility classification task, and show that a variant of Conditional Random Fields (CRFs), the Latent-Dynamic CRF, is the most robust, accurate, and appropriate model for use on our system. Additionally, we evaluate different classification features and show that the observed demeanor of a person can help in interruptibility classification; but in the presence of detection noise, robust detection of object labels as a visual cue to the interruption context can improve interruptibility estimates. Finally, we deploy our system in a large-scale user study to understand the effects of interruptibility-awareness on human-task performance, robot-task performance, and on human interpretation of the robot’s social aptitude. Our results show that while participants are able to maintain task performance, even in the presence of interruptions, interruptibility-awareness improves the robot’s task performance and improves participant social perceptions of the robot.

Cognitive Mimetics for Designing Intelligent Technologies

Design mimetics is an important method of creation in technology design. Here, we review design mimetics as a plausible approach to address the problem of how to design generally intelligent technology. We argue that design mimetics can be conceptually divided into three levels based on the source of imitation. Biomimetics focuses on the structural similarities between systems in nature and technical solutions for solving design problems. In robotics, the sensory-motor systems of humans and animals are a source of design solutions. At the highest level, we introduce the concept of cognitive mimetics, in which the source for imitation is human information processing. We review and discuss some historical examples of cognitive mimetics, its potential uses, methods, levels, and current applications, and how to test its success. We conclude by a practical example showing how cognitive mimetics can be a highly valuable complimentary approach for pattern matching and machine learning based design of artificial intelligence (AI) for solving specific human-AI interaction design problems.

A Control Architecture of Robot-Assisted Intervention for Children with Autism Spectrum Disorders

Robot-assisted intervention has been successfully applied to the education and training of children with autism spectrum disorders. However, it is necessary to increase the autonomy of the robot to reduce the burden on the human therapists. This paper focuses on proposing a robotic architecture to improve the autonomy of the robot in the course of the interaction between the robot and the child with autism. Following the model of perception-cognition-action, the architecture also incorporates some of the concepts of traditional autism intervention approach and the human cognitive model. The details of the robotic architecture are described in this paper, and in the end, a typical scenario is used to verify the proposed method.

Application of modified Asimov’s laws to the agent of home service robot using state, operator, and result (Soar)

This study aims to interpret and apply Asimov’s Three Laws of Robotics to home service robots. An agent is developed herein with the ability to focus its attention on human beings’ health, particularly the elderly and the diseased, by delivering food. The agent is developed on a cognitive agent architecture, state, operator, and result (Soar), to enable effective reasoning and decision-making skills. This study deals with basic home care services, such as food delivery and emergency response; therefore, common food care and emergency rules are newly proposed based on the priority values that correspond to a family’s circumstances and/or emergency levels. Asimov’s Three Laws are modified to aid the home service robot to follow a predetermined order in selecting a food item or recommending an alternative food item suitable for its user’s prevailing health condition. Experimental results confirm that reasoning and decision-making of the proposed agent are logically and ethically valid for a home service robot and ensure compliance with both the original and modified Asimov’s Three Laws.

Needs, Pains, and Motivations in Autonomous Agents

This paper presents the development of a motivated learning (ML) agent with symbolic I/O. Our earlier work on the ML agent was enhanced, giving it autonomy for interaction with other agents. Specifically, we equipped the agent with drives and pains that establish its motivations to learn how to respond to desired and undesired events and create related abstract goals. The purpose of this paper is to explore the autonomous development of motivations and memory in agents within a simulated environment. The ML agent has been implemented in a virtual environment created within the NeoAxis game engine. Additionally, to illustrate the benefits of an ML-based agent, we compared the performance of our algorithm against various reinforcement learning (RL) algorithms in a dynamic test scenario, and demonstrated that our ML agent learns better than any of the tested RL agents.This paper presents the development of a motivated learning (ML) agent with symbolic I/O. Our earlier work on the ML agent was enhanced, giving it autonomy for interaction with other agents. Specifically, we equipped the agent with drives and pains that establish its motivations to learn how to respond to desired and undesired events and create related abstract goals. The purpose of this paper is to explore the autonomous development of motivations and memory in agents within a simulated environment. The ML agent has been implemented in a virtual environment created within the NeoAxis game engine. Additionally, to illustrate the benefits of an ML-based agent, we compared the performance of our algorithm against various reinforcement learning (RL) algorithms in a dynamic test scenario, and demonstrated that our ML agent learns better than any of the tested RL agents.

Escape from the factory of the robot monsters: agents of change

Purpose

The increasing use of robotics within modern factories and workplaces not only sees us becoming more dependent on this technology but it also introduces innovative ways by which humans interact with complex systems. As agent-based systems become more integrated into work environments, the traditional human team becomes more integrated with agent-based automation and, in some cases, autonomous behaviours. This paper discusses these interactions in terms of team composition and how a human-agent collective can share goals via the delegation of authority between human and agent team members.

Design/methodology/approach

This paper highlights the increasing integration of robotics in everyday life and examines the nature of how new novel teams may be constructed with the use of intelligent systems and autonomous agents.

Findings

Areas of human factors and human-computer interaction are used to discuss the benefits and limitations of human-agent teams.

Research limitations/implications

There is little research in (human–robot) (H–R) teamwork, especially from a human factors perspective.

Practical implications

Advancing the author’s understanding of the H–R team (and associated intelligent agent systems) will assist in the integration of such systems in everyday practices.

Social implications

H–R teams hold a great deal of social and organisational issues that need further exploring. Only through understanding this context can advanced systems be fully realised.

Originality/value

This paper is multidisciplinary, drawing on areas of psychology, computer science, robotics and human–computer Interaction. Specific attention is given to an emerging field of autonomous software agents that are growing in use. This paper discusses the uniqueness of the human-agent teaming that results when human and agent members share a common goal within a team.

Goal-directed robot manipulation through axiomatic scene estimation

Performing robust goal-directed manipulation tasks remains a crucial challenge for autonomous robots. In an ideal case, shared autonomous control of manipulators would allow human users to specify their intent as a goal state and have the robot reason over the actions and motions to achieve this goal. However, realizing this goal remains elusive due to the problem of perceiving the robot’s environment. We address and describe the problem of axiomatic scene estimation for robot manipulation in cluttered scenes which is the estimation of a tree-structured scene graph describing the configuration of objects observed from robot sensing. We propose generative approaches to scene inference (as the axiomatic particle filter, and the axiomatic scene estimation by Markov chain Monte Carlo based sampler) of the robot’s environment as a scene graph. The result from AxScEs estimation are axioms amenable to goal-directed manipulation through symbolic inference for task planning and collision-free motion planning and execution. We demonstrate the results for goal-directed manipulation of multi-object scenes by a PR2 robot.

Familiarity, Priming, and Perception in Similarity Judgments

We present a novel way of accounting for similarity judgments. Our approach posits that similarity stems from three main sources-familiarity, priming, and inherent perceptual likeness. Here, we explore each of these constructs and demonstrate their individual and combined effectiveness in explaining similarity judgments. Using these three measures, our account of similarity explains ratings of simple, color-based perceptual stimuli that display asymmetry effects, as well as more complicated perceptual stimuli with structural properties; more traditional approaches to similarity solve one or the other and have difficulty accounting for both. Overall, our work demonstrates the importance of each of these components of similarity in explaining similarity judgments, both individually and together, and suggests important implications for other similarity approaches.

A Process for Systematic Development of Symbolic Models for Activity Recognition

Several emerging approaches to activity recognition (AR) combine symbolic representation of user actions with probabilistic elements for reasoning under uncertainty. These approaches provide promising results in terms of recognition performance, coping with the uncertainty of observations, and model size explosion when complex problems are modelled. But experience has shown that it is not always intuitive to model even seemingly simple problems. To date, there are no guidelines for developing such models. To address this problem, in this work we present a development process for building symbolic models that is based on experience acquired so far as well as on existing engineering and data analysis workflows. The proposed process is a first attempt at providing structured guidelines and practices for designing, modelling, and evaluating human behaviour in the form of symbolic models for AR. As an illustration of the process, a simple example from the office domain was developed. The process was evaluated in a comparative study of an intuitive process and the proposed process. The results showed a significant improvement over the intuitive process. Furthermore, the study participants reported greater ease of use and perceived effectiveness when following the proposed process. To evaluate the applicability of the process to more complex AR problems, it was applied to a problem from the kitchen domain. The results showed that following the proposed process yielded an average accuracy of 78%. The developed model outperformed state-of-the-art methods applied to the same dataset in previous work, and it performed comparably to a symbolic model developed by a model expert without following the proposed development process.

Episodes, events, and models

We describe a novel computational theory of how individuals segment perceptual information into representations of events. The theory is inspired by recent findings in the cognitive science and cognitive neuroscience of event segmentation. In line with recent theories, it holds that online event segmentation is automatic, and that event segmentation yields mental simulations of events. But it posits two novel principles as well: first, discrete episodic markers track perceptual and conceptual changes, and can be retrieved to construct event models. Second, the process of retrieving and reconstructing those episodic markers is constrained and prioritized. We describe a computational implementation of the theory, as well as a robotic extension of the theory that demonstrates the processes of online event segmentation and event model construction. The theory is the first unified computational account of event segmentation and temporal inference. We conclude by demonstrating now neuroimaging data can constrain and inspire the construction of process-level theories of human reasoning.

Novel Virtual User Models of Mild Cognitive Impairment for Simulating Dementia

Virtual user modeling research has attempted to address critical issues of human-computer interaction (HCI) such as usability and utility through a large number of analytic, usability-oriented approaches as cognitive models in order to provide users with experiences fitting to their specific needs. However, there is demand for more specific modules embodied in cognitive architecture that will detect abnormal cognitive decline across new synthetic task environments. Also, accessibility evaluation of graphical user interfaces (GUIs) requires considerable effort for enhancing ICT products accessibility for older adults. The main aim of this study is to develop and test virtual user models (VUM) simulating mild cognitive impairment (MCI) through novel specific modules, embodied at cognitive models and defined by estimations of cognitive parameters. Well-established MCI detection tests assessed users' cognition, elaborated their ability to perform multitasks, and monitored the performance of infotainment related tasks to provide more accurate simulation results on existing conceptual frameworks and enhanced predictive validity in interfaces' design supported by increased tasks' complexity to capture a more detailed profile of users' capabilities and limitations. The final outcome is a more robust cognitive prediction model, accurately fitted to human data to be used for more reliable interfaces' evaluation through simulation on the basis of virtual models of MCI users.