2,151 research outputs found
Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics
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Agents for educational games and simulations
This book consists mainly of revised papers that were presented at the Agents for Educational Games and Simulation (AEGS) workshop held on May 2, 2011, as part of the Autonomous Agents and MultiAgent Systems (AAMAS) conference in Taipei, Taiwan. The 12 full papers presented were carefully reviewed and selected from various submissions. The papers are organized topical sections on middleware applications, dialogues and learning, adaption and convergence, and agent applications
10081 Abstracts Collection -- Cognitive Robotics
From 21.02. to 26.02.2010, the Dagstuhl Seminar 10081 ``Cognitive Robotics \u27\u27 was held in Schloss Dagstuhl~--~Leibniz Center for Informatics.
During the seminar, several participants presented their current
research, and ongoing work and open problems were discussed. Abstracts of
the presentations given during the seminar as well as abstracts of
seminar results and ideas are put together in this paper. The first section
describes the seminar topics and goals in general.
Links to extended abstracts or full papers are provided, if available
Agent Based Modeling and Simulation: An Informatics Perspective
The term computer simulation is related to the usage of a computational model in order to improve the understanding of a system's behavior and/or to evaluate strategies for its operation, in explanatory or predictive schemes. There are cases in which practical or ethical reasons make it impossible to realize direct observations: in these cases, the possibility of realizing 'in-machina' experiments may represent the only way to study, analyze and evaluate models of those realities. Different situations and systems are characterized by the presence of autonomous entities whose local behaviors (actions and interactions) determine the evolution of the overall system; agent-based models are particularly suited to support the definition of models of such systems, but also to support the design and implementation of simulators. Agent-Based models and Multi-Agent Systems (MAS) have been adopted to simulate very different kinds of complex systems, from the simulation of socio-economic systems to the elaboration of scenarios for logistics optimization, from biological systems to urban planning. This paper discusses the specific aspects of this approach to modeling and simulation from the perspective of Informatics, describing the typical elements of an agent-based simulation model and the relevant research.Multi-Agent Systems, Agent-Based Modeling and Simulation
Towards an Indexical Model of Situated Language Comprehension for Cognitive Agents in Physical Worlds
We propose a computational model of situated language comprehension based on
the Indexical Hypothesis that generates meaning representations by translating
amodal linguistic symbols to modal representations of beliefs, knowledge, and
experience external to the linguistic system. This Indexical Model incorporates
multiple information sources, including perceptions, domain knowledge, and
short-term and long-term experiences during comprehension. We show that
exploiting diverse information sources can alleviate ambiguities that arise
from contextual use of underspecific referring expressions and unexpressed
argument alternations of verbs. The model is being used to support linguistic
interactions in Rosie, an agent implemented in Soar that learns from
instruction.Comment: Advances in Cognitive Systems 3 (2014
Ongoing Emergence: A Core Concept in Epigenetic Robotics
We propose ongoing emergence as a core concept in
epigenetic robotics. Ongoing emergence refers to the
continuous development and integration of new skills
and is exhibited when six criteria are satisfied: (1)
continuous skill acquisition, (2) incorporation of new
skills with existing skills, (3) autonomous development
of values and goals, (4) bootstrapping of initial skills, (5)
stability of skills, and (6) reproducibility. In this paper
we: (a) provide a conceptual synthesis of ongoing
emergence based on previous theorizing, (b) review
current research in epigenetic robotics in light of ongoing
emergence, (c) provide prototypical examples of ongoing
emergence from infant development, and (d) outline
computational issues relevant to creating robots
exhibiting ongoing emergence
From Verbs to Tasks: An Integrated Account of Learning Tasks from Situated Interactive Instruction.
Intelligent collaborative agents are becoming common in the human society. From virtual assistants such as Siri and Google Now to assistive robots, they contribute to human activities in a variety of ways. As they become more pervasive, the challenge of customizing them to a variety of environments and tasks becomes critical. It is infeasible for engineers to program them for each individual use. Our research aims at building interactive robots and agents that adapt to new environments autonomously by interacting with human users using natural modalities.
This dissertation studies the problem of learning novel tasks from human-agent dialog. We propose a novel approach for interactive task learning, situated interactive instruction (SII), and investigate approaches to three computational challenges that arise in designing SII agents: situated comprehension, mixed-initiative interaction, and interactive task learning. We propose a novel mixed-modality grounded representation for task verbs which encompasses their lexical, semantic, and
task-oriented aspects. This representation is useful in situated comprehension and can be learned through human-agent interactions. We introduce the Indexical Model of comprehension that can exploit
extra-linguistic contexts for resolving semantic ambiguities in situated comprehension of task commands. The Indexical model is integrated with a mixed-initiative interaction model that facilitates
a flexible task-oriented human-agent dialog. This dialog serves as the basis of interactive task learning. We propose an interactive variation of explanation-based learning that can acquire the proposed
representation. We demonstrate that our learning paradigm is efficient, can transfer knowledge between structurally similar tasks, integrates agent-driven exploration with instructional learning, and can acquire several tasks. The methods proposed in this thesis are integrated in Rosie - a generally instructable agent developed in the Soar cognitive architecture and embodied on a table-top robot.PhDComputer Science and EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/111573/1/shiwali_1.pd
A Survey of Knowledge Representation in Service Robotics
Within the realm of service robotics, researchers have placed a great amount
of effort into learning, understanding, and representing motions as
manipulations for task execution by robots. The task of robot learning and
problem-solving is very broad, as it integrates a variety of tasks such as
object detection, activity recognition, task/motion planning, localization,
knowledge representation and retrieval, and the intertwining of
perception/vision and machine learning techniques. In this paper, we solely
focus on knowledge representations and notably how knowledge is typically
gathered, represented, and reproduced to solve problems as done by researchers
in the past decades. In accordance with the definition of knowledge
representations, we discuss the key distinction between such representations
and useful learning models that have extensively been introduced and studied in
recent years, such as machine learning, deep learning, probabilistic modelling,
and semantic graphical structures. Along with an overview of such tools, we
discuss the problems which have existed in robot learning and how they have
been built and used as solutions, technologies or developments (if any) which
have contributed to solving them. Finally, we discuss key principles that
should be considered when designing an effective knowledge representation.Comment: Accepted for RAS Special Issue on Semantic Policy and Action
Representations for Autonomous Robots - 22 Page
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