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

A half century of progress towards a unified neural theory of mind and brain with applications to autonomous adaptive agents and mental disorders

Invited article for the book Artificial Intelligence in the Age of Neural Networks and Brain Computing R. Kozma, C. Alippi, Y. Choe, and F. C. Morabito, Eds. Cambridge, MA: Academic PressThis article surveys some of the main design principles, mechanisms, circuits, and architectures that have been discovered during a half century of systematic research aimed at developing a unified theory that links mind and brain, and shows how psychological functions arise as emergent properties of brain mechanisms. The article describes a theoretical method that has enabled such a theory to be developed in stages by carrying out a kind of conceptual evolution. It also describes revolutionary computational paradigms like Complementary Computing and Laminar Computing that constrain the kind of unified theory that can describe the autonomous adaptive intelligence that emerges from advanced brains. Adaptive Resonance Theory, or ART, is one of the core models that has been discovered in this way. ART proposes how advanced brains learn to attend, recognize, and predict objects and events in a changing world that is filled with unexpected events. ART is not, however, a “theory of everything” if only because, due to Complementary Computing, different matching and learning laws tend to support perception and cognition on the one hand, and spatial representation and action on the other. The article mentions why a theory of this kind may be useful in the design of autonomous adaptive agents in engineering and technology. It also notes how the theory has led to new mechanistic insights about mental disorders such as autism, medial temporal amnesia, Alzheimer’s disease, and schizophrenia, along with mechanistically informed proposals about how their symptoms may be ameliorated

PRESENCE: A human-inspired architecture for speech-based human-machine interaction

Recent years have seen steady improvements in the quality and performance of speech-based human-machine interaction driven by a significant convergence in the methods and techniques employed. However, the quantity of training data required to improve state-of-the-art systems seems to be growing exponentially and performance appears to be asymptotic to a level that may be inadequate for many real-world applications. This suggests that there may be a fundamental flaw in the underlying architecture of contemporary systems, as well as a failure to capitalize on the combinatorial properties of human spoken language. This paper addresses these issues and presents a novel architecture for speech-based human-machine interaction inspired by recent findings in the neurobiology of living systems. Called PRESENCE-"PREdictive SENsorimotor Control and Emulation" - this new architecture blurs the distinction between the core components of a traditional spoken language dialogue system and instead focuses on a recursive hierarchical feedback control structure. Cooperative and communicative behavior emerges as a by-product of an architecture that is founded on a model of interaction in which the system has in mind the needs and intentions of a user and a user has in mind the needs and intentions of the system

Speaker Normalization Using Cortical Strip Maps: A Neural Model for Steady State vowel Categorization

Auditory signals of speech are speaker-dependent, but representations of language meaning are speaker-independent. The transformation from speaker-dependent to speaker-independent language representations enables speech to be learned and understood from different speakers. A neural model is presented that performs speaker normalization to generate a pitch-independent representation of speech sounds, while also preserving information about speaker identity. This speaker-invariant representation is categorized into unitized speech items, which input to sequential working memories whose distributed patterns can be categorized, or chunked, into syllable and word representations. The proposed model fits into an emerging model of auditory streaming and speech categorization. The auditory streaming and speaker normalization parts of the model both use multiple strip representations and asymmetric competitive circuits, thereby suggesting that these two circuits arose from similar neural designs. The normalized speech items are rapidly categorized and stably remembered by Adaptive Resonance Theory circuits. Simulations use synthesized steady-state vowels from the Peterson and Barney [J. Acoust. Soc. Am. 24, 175-184 (1952)] vowel database and achieve accuracy rates similar to those achieved by human listeners. These results are compared to behavioral data and other speaker normalization models.National Science Foundation (SBE-0354378); Office of Naval Research (N00014-01-1-0624

The perception of English front vowels by North Holland and Flemish listeners: acoustic similarity predicts and explains cross-linguistic and L2 perception

We investigated whether regional differences in the native language (L1) influence the perception of second language (L2) sounds. Many cross-language and L2 perception studies have assumed that the degree of acoustic similarity between L1 and L2 sounds predicts cross-linguistic and L2 performance. The present study tests this assumption by examining the perception of the English contrast between /e{open}/ and /æ/ in native speakers of Dutch spoken in North Holland (the Netherlands) and in East- and West-Flanders (Belgium). A Linear Discriminant Analysis on acoustic data from both dialects showed that their differences in vowel production, as reported in and Adank, van Hout, and Van de Velde (2007), should influence the perception of the L2 vowels if listeners focus on the vowels' acoustic/auditory properties. Indeed, the results of categorization tasks with Dutch or English vowels as response options showed that the two listener groups differed as predicted by the discriminant analysis. Moreover, the results of the English categorization task revealed that both groups of Dutch listeners displayed the asymmetric pattern found in previous word recognition studies, i.e. English /æ/ was more frequently confused with English /e{open}/ than the reverse. This suggests a strong link between previous L2 word learning results and the present L2 perceptual assimilation patterns

Behavior-Based Early Language Development on a Humanoid Robot

We are exploring the idea that early language acquisition could be better modelled on an artifcial creature by considering the pragmatic aspect of natural language and of its development in human infants. We have implemented a system of vocal behaviors on Kismet in which "words" or concepts are behaviors in a competitive hierarchy. This paper reports on the framework, the vocal system's architecture and algorithms, and some preliminary results from vocal label learning and concept formation