Perceptual Generalization and Context in a Network MemoryInspired Long-Term Memory for Artificial Cognition

Abstract: In the framework of open-ended learning cognitive architectures for robots, this paper deals with thedesign of a Long-Term Memory (LTM) structure that can accommodate the progressive acquisition ofexperience-based decision capabilities, or what different authors call “automation” of what is learnt, asa complementary system to more common prospective functions. The LTM proposed here provides fora relational storage of knowledge nuggets given the form of artificial neural networks (ANNs) that isrepresentative of the contexts in which they are relevant in a configural associative structure. It alsoaddresses the problem of continuous perceptual spaces and the task- and context-related generalizationor categorization of perceptions in an autonomous manner within the embodied sensorimotor apparatusof the robot. These issues are analyzed and a solution is proposed through the introduction of two newtypes of knowledge nuggets: P-nodes representing perceptual classes and C-nodes representing contexts.The approach is studied and its performance evaluated through its implementation and application to areal robotic experimentXunta de Galicia; ED431C 2017/12Xunta de Galicia; ED341D R2016/01

Platonic model of mind as an approximation to neurodynamics

Hierarchy of approximations involved in simplification of microscopic theories, from sub-cellural to the whole brain level, is presented. A new approximation to neural dynamics is described, leading to a Platonic-like model of mind based on psychological spaces. Objects and events in these spaces correspond to quasi-stable states of brain dynamics and may be interpreted from psychological point of view. Platonic model bridges the gap between neurosciences and psychological sciences. Static and dynamic versions of this model are outlined and Feature Space Mapping, a neurofuzzy realization of the static version of Platonic model, described. Categorization experiments with human subjects are analyzed from the neurodynamical and Platonic model points of view

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

Neurocognitive Informatics Manifesto.

Informatics studies all aspects of the structure of natural and artificial information systems. Theoretical and abstract approaches to information have made great advances, but human information processing is still unmatched in many areas, including information management, representation and understanding. Neurocognitive informatics is a new, emerging field that should help to improve the matching of artificial and natural systems, and inspire better computational algorithms to solve problems that are still beyond the reach of machines. In this position paper examples of neurocognitive inspirations and promising directions in this area are given

Long-term learning behavior in a recurrent neural network for sound recognition

In this paper, the long-term learning properties of an artificial neural network model, designed for sound recognition and computational auditory scene analysis in general, are investigated. The model is designed to run for long periods of time (weeks to months) on low-cost hardware, used in a noise monitoring network, and builds upon previous work by the same authors. It consists of three neural layers, connected to each other by feedforward and feedback excitatory connections. It is shown that the different mechanisms that drive auditory attention emerge naturally from the way in which neural activation and intra-layer inhibitory connections are implemented in the model. Training of the artificial neural network is done following the Hebb principle, dictating that "Cells that fire together, wire together", with some important modifications, compared to standard Hebbian learning. As the model is designed to be on-line for extended periods of time, also learning mechanisms need to be adapted to this. The learning needs to be strongly attention-and saliency-driven, in order not to waste available memory space for sounds that are of no interest to the human listener. The model also implements plasticity, in order to deal with new or changing input over time, without catastrophically forgetting what it already learned. On top of that, it is shown that also the implementation of shortterm memory plays an important role in the long-term learning properties of the model. The above properties are investigated and demonstrated by training on real urban sound recordings

Intrinsic Motivation Systems for Autonomous Mental Development

Exploratory activities seem to be intrinsically rewarding for children and crucial for their cognitive development. Can a machine be endowed with such an intrinsic motivation system? This is the question we study in this paper, presenting a number of computational systems that try to capture this drive towards novel or curious situations. After discussing related research coming from developmental psychology, neuroscience, developmental robotics, and active learning, this paper presents the mechanism of Intelligent Adaptive Curiosity, an intrinsic motivation system which pushes a robot towards situations in which it maximizes its learning progress. This drive makes the robot focus on situations which are neither too predictable nor too unpredictable, thus permitting autonomous mental development.The complexity of the robot’s activities autonomously increases and complex developmental sequences self-organize without being constructed in a supervised manner. Two experiments are presented illustrating the stage-like organization emerging with this mechanism. In one of them, a physical robot is placed on a baby play mat with objects that it can learn to manipulate. Experimental results show that the robot first spends time in situations which are easy to learn, then shifts its attention progressively to situations of increasing difficulty, avoiding situations in which nothing can be learned. Finally, these various results are discussed in relation to more complex forms of behavioral organization and data coming from developmental psychology. Key words: Active learning, autonomy, behavior, complexity, curiosity, development, developmental trajectory, epigenetic robotics, intrinsic motivation, learning, reinforcement learning, values