A Self-Verifying Cognitive Architecture for Robust Bootstrapping of Sensory-Motor Skills via Multipurpose Predictors

被引:7
作者
Wieser, Erhard [1 ]
Cheng, Gordon [1 ]
机构
[1] Tech Univ Munich, Inst Cognit Syst, D-80333 Munich, Germany
关键词
Bootstrapping; cognitive architecture; prediction; self-verification; DEVELOPMENTAL ROBOTICS; MODEL; INTELLIGENCE; ORGANIZATION; IMITATION; BEHAVIOR; SYSTEMS; MAPS;
D O I
10.1109/TCDS.2018.2871857
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The autonomous acquisition of sensory-motor skills along multiple developmental stages is one of the current challenges in robotics. To this end, we propose a new developmental cognitive architecture that combines multipurpose predictors and principles of self-verification for the robust bootstrapping of sensory-motor skills. Our architecture operates with loops formed by both mental simulation of sensory-motor sequences and their subsequent physical trial on a robot. During these loops, verification algorithms monitor the predicted and the physically observed sensory-motor data. Multiple types of predictors are acquired through several developmental stages. As a result, the architecture can select and plan actions, adapt to various robot platforms by adjusting proprioceptive feedback, predict the risk of self-collision, learn from a previous interaction stage by validating and extracting sensory-motor data for training the predictor of a subsequent stage, and finally acquire an internal representation for evaluating the performance of its predictors. These cognitive capabilities in turn realize the bootstrapping of early hand-eye coordination and its improvement. We validate the cognitive capabilities experimentally and, in particular, show an improvement of reaching as an example skill.
引用
收藏
页码:1081 / 1095
页数:15
相关论文
共 78 条
[11]   Elephants don't play chess [J].
Brooks, Rodney A. .
Robotics and Autonomous Systems, 1990, 6 (1-2) :3-15
[12]   INTELLIGENCE WITHOUT REPRESENTATION [J].
BROOKS, RA .
ARTIFICIAL INTELLIGENCE, 1991, 47 (1-3) :139-159
[13]   A ROBUST LAYERED CONTROL-SYSTEM FOR A MOBILE ROBOT [J].
BROOKS, RA .
IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1986, 2 (01) :14-23
[14]  
Broz F., 2012, ARXIV12025600V1
[15]  
Burger W, 2017, J IEEE I C DEVELOP L, P60, DOI 10.1109/DEVLRN.2017.8329788
[16]  
Caligiore D., 2010, P 10 INT C EP ROB LU, V149, P27
[17]  
Cheng G., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P2235, DOI 10.1109/ROBOT.2000.846360
[18]   Continuous humanoid interaction: An integrated perspective - gaining adaptivity, redundancy, flexibility - in one [J].
Cheng, GD ;
Nagakubo, A ;
Kuniyoshi, Y .
ROBOTICS AND AUTONOMOUS SYSTEMS, 2001, 37 (2-3) :161-183
[19]   Mapping the feel of the arm with the sight of the object: on the embodied origins of infant reaching [J].
Corbetta, Daniela ;
Thurman, Sabrina L. ;
Wiener, Rebecca F. ;
Guan, Yu ;
Williams, Joshua L. .
FRONTIERS IN PSYCHOLOGY, 2014, 5
[20]  
Dean-Leon Emmanuel, 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA), P2441, DOI 10.1109/ICRA.2017.7989284