An Internal Language for Categories Enriched over Generalised Metric Spaces

Programs with a continuous state space or that interact with physical processes often require notions of equivalence going beyond the standard binary setting in which equivalence either holds or does not hold. In this paper we explore the idea of equivalence taking values in a quantale ?, which covers the cases of (in)equations and (ultra)metric equations among others. Our main result is the introduction of a ?-equational deductive system for linear ?-calculus together with a proof that it is sound and complete (in fact, an internal language) for a class of enriched autonomous categories. In the case of inequations, we get an internal language for autonomous categories enriched over partial orders. In the case of (ultra)metric equations, we get an internal language for autonomous categories enriched over (ultra)metric spaces. We use our results to obtain examples of inequational and metric equational systems for higher-order programs that contain real-time and probabilistic behaviour

Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.”This position paper proposes that the study of embodied cognitive agents, such as humanoid robots, can advance our understanding of the cognitive development of complex sensorimotor, linguistic, and social learning skills. This in turn will benefit the design of cognitive robots capable of learning to handle and manipulate objects and tools autonomously, to cooperate and communicate with other robots and humans, and to adapt their abilities to changing internal, environmental, and social conditions. Four key areas of research challenges are discussed, specifically for the issues related to the understanding of: 1) how agents learn and represent compositional actions; 2) how agents learn and represent compositional lexica; 3) the dynamics of social interaction and learning; and 4) how compositional action and language representations are integrated to bootstrap the cognitive system. The review of specific issues and progress in these areas is then translated into a practical roadmap based on a series of milestones. These milestones provide a possible set of cognitive robotics goals and test scenarios, thus acting as a research roadmap for future work on cognitive developmental robotics.Peer reviewe

Meaning, autonomy, symbolic causality, and free will

As physical entities that translate symbols into physical actions, computers offer insights into the nature of meaning and agency. • Physical symbol systems, generically known as agents, link abstractions to material actions. The meaning of a symbol is defined as the physical actions an agent takes when the symbol is encountered. • An agent has autonomy when it has the power to select actions based on internal decision processes. Autonomy offers a partial escape from constraints imposed by direct physical influences such as gravity and the transfer of momentum. Swimming upstream is an example. • Symbols are names that can designate other entities. It appears difficult to explain the use of names and symbols in terms of more primitive functionality. The ability to use names and symbols, i.e., symbol grounding, may be a fundamental cognitive building block. • The standard understanding of causality—wiggling X results in Y wiggling—applies to both physical causes (e.g., one billiard ball hitting another) and symbolic causes (e.g., a traffic light changing color). Because symbols are abstract, they cannot produce direct physical effects. For a symbol to be a cause requires that the affected entity determine its own response. This is called autonomous causality. • This analysis of meaning and autonomy offers new perspectives on free will

Towards Error Handling in a DSL for Robot Assembly Tasks

This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the likelihood of errors, and these errors need to be addressed. Nevertheless, it is essential that programming and setting up the assembly remains fast, allows quick changeovers, easy adjustments and reconfigurations. In this paper we present an initial design and implementation of extending an existing DSL for assembly operations with error specification, error handling and advanced move commands incorporating error tolerance. The DSL is used as part of a framework that aims at tackling uncertainties through a probabilistic approach.Comment: Presented at DSLRob 2014 (arXiv:cs/1411.7148

Usage Effects on the Cognitive Routinization of Chinese Resultative Verbs

The present study adopts a corpus-oriented usage-based approach to the grammar of Chinese resultative verbs. Zooming in on a specific class of V-kai constructions, this paper aims to elucidate the effect of frequency in actual usage events on shaping the linguistic representations of resultative verbs. Specifically, it will be argued that while high token frequency results in more lexicalized V-kai complex verbs, high type frequency gives rise to more schematized V-kai constructions. The routinized patterns pertinent to V-kai resultative verbs varying in their extent of specificity and generality accordingly serve as a representative illustration of the continuum between lexicon and grammar that characterizes a usage-based conception of language