The role of attention in robot self-awareness

A robot may not be truly self-aware even though it can have some characteristics of self-awareness, such as having emotional states or the ability to recognize itself in the mirror. We define self-awareness in robots to be characterized by the capacity to direct attention toward their own mental state. This paper explores robot self-awareness and the role that attention plays in the achievement self-awareness. We propose a new attention based approach to self-awareness called ASMO and conduct a comparative analysis of approaches that highlights the innovation and benefits of ASMO. We then describe how our attention based self-awareness can be designed and used to develop self-awareness in state-of-the-art humanoidal robots. © 2009 IEEE

Sensorimotor representation learning for an "active self" in robots: A model survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyse what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration

Robots and Privacy in Japanese, Thai and Chinese Cultures. \ud Discussions on Robots and Privacy as Topics of Intercultural Information Ethics in ‘Far East’

In this paper, I will analyze ‘cultural meanings and values’ associated with some of the important IIE(intercultural information ethics) topics in ‘Far East, ’i.e. ‘human and robot interaction(HRI)’ and ‘privacy.’ By focusing on these relatively newly emerging topics in ‘Far East,’ I will attempt to make the cultural Ba (locus/place where different\ud meanings of things, events, people’s experiences come together; or frameworks for understanding meanings of phenomena and events) visible through analysis of research data done in Japan, Thailand and China in the past several years. The research data shown in this paper suggest that we can’t understand people’s attitudes toward robots and privacy in ‘Far East’ without taking into consideration people’s broader views on ‘what is a good life?’ and ‘what is a virtuous life?

The Random Bit Complexity of Mobile Robots Scattering

We consider the problem of scattering $n$ robots in a two dimensional continuous space. As this problem is impossible to solve in a deterministic manner, all solutions must be probabilistic. We investigate the amount of randomness (that is, the number of random bits used by the robots) that is required to achieve scattering. We first prove that $n \log n$ random bits are necessary to scatter $n$ robots in any setting. Also, we give a sufficient condition for a scattering algorithm to be random bit optimal. As it turns out that previous solutions for scattering satisfy our condition, they are hence proved random bit optimal for the scattering problem. Then, we investigate the time complexity of scattering when strong multiplicity detection is not available. We prove that such algorithms cannot converge in constant time in the general case and in $o(\log \log n)$ rounds for random bits optimal scattering algorithms. However, we present a family of scattering algorithms that converge as fast as needed without using multiplicity detection. Also, we put forward a specific protocol of this family that is random bit optimal ($n \log n$ random bits are used) and time optimal ($\log \log n$ rounds are used). This improves the time complexity of previous results in the same setting by a $\log n$ factor. Aside from characterizing the random bit complexity of mobile robot scattering, our study also closes its time complexity gap with and without strong multiplicity detection (that is, $O(1)$ time complexity is only achievable when strong multiplicity detection is available, and it is possible to approach it as needed otherwise)

Sensorimotor Representation Learning for an “Active Self” in Robots: A Model Survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in spaces populated by people and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyze what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration.Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Projekt DEALPeer Reviewe

Rendezvous of Two Robots with Constant Memory

We study the impact that persistent memory has on the classical rendezvous problem of two mobile computational entities, called robots, in the plane. It is well known that, without additional assumptions, rendezvous is impossible if the entities are oblivious (i.e., have no persistent memory) even if the system is semi-synchronous (SSynch). It has been recently shown that rendezvous is possible even if the system is asynchronous (ASynch) if each robot is endowed with O(1) bits of persistent memory, can transmit O(1) bits in each cycle, and can remember (i.e., can persistently store) the last received transmission. This setting is overly powerful. In this paper we weaken that setting in two different ways: (1) by maintaining the O(1) bits of persistent memory but removing the communication capabilities; and (2) by maintaining the O(1) transmission capability and the ability to remember the last received transmission, but removing the ability of an agent to remember its previous activities. We call the former setting finite-state (FState) and the latter finite-communication (FComm). Note that, even though its use is very different, in both settings, the amount of persistent memory of a robot is constant. We investigate the rendezvous problem in these two weaker settings. We model both settings as a system of robots endowed with visible lights: in FState, a robot can only see its own light, while in FComm a robot can only see the other robot's light. We prove, among other things, that finite-state robots can rendezvous in SSynch, and that finite-communication robots are able to rendezvous even in ASynch. All proofs are constructive: in each setting, we present a protocol that allows the two robots to rendezvous in finite time.Comment: 18 pages, 3 figure