Constructing Abstraction Hierarchies Using a Skill-Symbol Loop

We describe a framework for building abstraction hierarchies whereby an agent alternates skill- and representation-acquisition phases to construct a sequence of increasingly abstract Markov decision processes. Our formulation builds on recent results showing that the appropriate abstract representation of a problem is specified by the agent's skills. We describe how such a hierarchy can be used for fast planning, and illustrate the construction of an appropriate hierarchy for the Taxi domain

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

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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

Automating human skills : preliminary development of a human factors methodology to capture tacit cognitive skills

Despite technological advances in intelligent automation, it remains difficult for engineers to discern which manual tasks, or task components, would be most suitable for transfer to automated alternatives. This research aimed to develop an accurate methodology for the measurement of both observable and unobservable physical and cognitive activities used in manual tasks for the capture of tacit skill. Experienced operators were observed and interviewed in detail, following which, hierarchical task analysis and task decomposition methods were used to systematically explore and classify the qualitative data. Results showed that a task analysis / decomposition methodology identified different types of skill (e.g. procedural or declarative) and knowledge (explicit or tacit) indicating this methodology could be used for further human skill capture studies. The benefit of this research will be to provide a methodology to capture human skill so that complex manual tasks can be more efficiently transferred into automated processes

A survey of agent-oriented methodologies

This article introduces the current agent-oriented methodologies. It discusses what approaches have been followed (mainly extending existing object oriented and knowledge engineering methodologies), the suitability of these approaches for agent modelling, and some conclusions drawn from the survey

Software acquisition: a business strategy analysis

The paper argues that there are new insights to be gained from a strategic analysis of requirements engineering. The paper is motivated by a simple question: what does it take to be a world class software acquirer? The question has relevance for requirements engineers because for many organisations market pressures mean that software is commonly acquired rather than developed from scratch. The paper builds on the work of C. H. Fine (1998) who suggests that product, process and supply chain should be designed together, i.e., 3D concurrent engineering. Using a number of reference theories, it proposes a systematic way of carrying out 3D concurrent engineering. The paper concludes that the critical activity in supply chain design is the design of the distribution of skills and the nature of contract

SERKET: An Architecture for Connecting Stochastic Models to Realize a Large-Scale Cognitive Model

To realize human-like robot intelligence, a large-scale cognitive architecture is required for robots to understand the environment through a variety of sensors with which they are equipped. In this paper, we propose a novel framework named Serket that enables the construction of a large-scale generative model and its inference easily by connecting sub-modules to allow the robots to acquire various capabilities through interaction with their environments and others. We consider that large-scale cognitive models can be constructed by connecting smaller fundamental models hierarchically while maintaining their programmatic independence. Moreover, connected modules are dependent on each other, and parameters are required to be optimized as a whole. Conventionally, the equations for parameter estimation have to be derived and implemented depending on the models. However, it becomes harder to derive and implement those of a larger scale model. To solve these problems, in this paper, we propose a method for parameter estimation by communicating the minimal parameters between various modules while maintaining their programmatic independence. Therefore, Serket makes it easy to construct large-scale models and estimate their parameters via the connection of modules. Experimental results demonstrated that the model can be constructed by connecting modules, the parameters can be optimized as a whole, and they are comparable with the original models that we have proposed