4 research outputs found
CASPER: Cognitive Architecture for Social Perception and Engagement in Robots
Our world is being increasingly pervaded by intelligent robots with varying
degrees of autonomy. To seamlessly integrate themselves in our society, these
machines should possess the ability to navigate the complexities of our daily
routines even in the absence of a human's direct input. In other words, we want
these robots to understand the intentions of their partners with the purpose of
predicting the best way to help them. In this paper, we present CASPER
(Cognitive Architecture for Social Perception and Engagement in Robots): a
symbolic cognitive architecture that uses qualitative spatial reasoning to
anticipate the pursued goal of another agent and to calculate the best
collaborative behavior. This is performed through an ensemble of parallel
processes that model a low-level action recognition and a high-level goal
understanding, both of which are formally verified. We have tested this
architecture in a simulated kitchen environment and the results we have
collected show that the robot is able to both recognize an ongoing goal and to
properly collaborate towards its achievement. This demonstrates a new use of
Qualitative Spatial Relations applied to the problem of intention reading in
the domain of human-robot interaction.Comment: 16 pages, 13 figure
A cognitive architecture for human-robot teaming interaction
Human-robot interaction finalized to cooperation and teamwork is a demanding research task, both under the development and the implementation point of view. In this context, cognitive architectures are a useful means for representing the cognitive perception-action cycle leading the decision-making process. In this paper, we present ongoing work on a cognitive architecture whose modules consider the possibility to represent the decision-making process starting from the observation of the environment and also of the inner world, populated by trust attitudes, emotions, capabilities and so on, and the world of the other in the environment
Knowledge acquisition through introspection in Human-Robot Cooperation
When cooperating with a team including humans, robots have to understand and update semantic information concerning the state of the environment. The run-time evaluation and acquisition of new concepts fall in the critical mass learning. It is a cognitive skill that enables the robot to show environmental awareness to complete its tasks successfully. A kind of self-consciousness emerges: the robot activates the introspective mental processes inferring if it owns a domain concept or not, and correctly blends the conceptual meaning of new entities. Many works attempt to simulate human brain functions leading to neural network implementation of consciousness; regrettably, some of these produce accurate model that however do not provide means for creating virtual agents able to interact with a human in a teamwork in a human-like fashion, hence including aspects such as self-conscious abilities, trust, emotions and motivations. We propose a method that, based on a cognitive architecture for human-robot teaming interaction, endows a robot with the ability to model its knowledge about the environment it is interacting with and to acquire new knowledge when it occurs