Abstract
This paper presents a novel attention-based cognitive architecture for a social robot. This architecture aims to join perception and reasoning considering a double interplay: the current task biases the perceptual process whereas perceived items determine the behaviours to be accomplished, considering the present context and role of the agent. Therefore, the proposed architecture represents a bidirectional solution to the perception-reasoning-action loop closing problem. The proposal is divided into two levels of performance, employing an Object-Based Visual Attention model as perception system and a general purpose Planning Framework at the top deliberative level. The architecture has been tested using a real and unrestricted environment that involves a real robot, time-varying tasks and daily life situations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Collins, T., Heed, T., Rder, B.: Visual target selection and motor planning define attentional enhancement at perceptual processing stages. Frontiers on Human Neuroscience 4, 1–10 (2010)
Fagioli, S., Hommel, B., Schubotz, R.I.: Intentional control of attention: action planning primes action-related stimulus dimensions. Psychological Research 71, 22–29 (2007)
Langley, P., Cummings, K., Shapiro, D.: Hierarchical skills and cognitive architectures. In: Proceedings of the twenty-sixth Annual Conference of the Cognitive Science Society, Citeseer, pp. 779–784 (2004)
Bischoff, R., Graefe, V.: Hermes-a versatile personal robotic assistant. Proceedings of the IEEE 92(11), 1759–1779 (2004)
Gilet, E., Diard, J., Bessière, P.: Bayesian action-perception computational model: Interaction of production and recognition of cursive letters. PloS One 6(6), e20387 (2011)
Sridharan, M., Wyatt, J., Dearden, R.: Planning to see: A hierarchical approach to planning visual actions on a robot using pomdps. Artificial Intelligence 174(11), 704–725 (2010)
Ferreira, J.F., Lobo, J., Bessière, P., Castelo-Branco, M., Dias, J.: A bayesian framework for active artificial perception. IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics 43(2), 699–711 (2013)
Palomino, A.J., Marfil, R., Bandera, J.P., Bandera, A.: Multi-feature bottom-up processing and top-down selection for an object-based visual attention model. In: Procedings of the II Workshop on Recognition and Action for Scene Understanding (REACTS), pp. 29–43 (2013)
Rensink, R.: Seeing, sensing, and scrutinizing. Vision Research 40(10–12), 1469–1487 (2000)
Corbetta, M., Shulman, G.L.: Control of goal-directed and stimulus-driven attention in the brain. Nature Reviews Neuroscience 3(3), 201–215 (2002)
Bundesen, C., Habekost, T., Kyllingsbaek, S.: A neural theory of visual attention and short-term memory (ntva). Neuropsychologia 49(6), 1446–1457 (2011)
Klein, R.M.: Inhibition of return. Trends in Cognitive Sciences 4(4), 138–147 (2000)
García-Olaya, A., de la Rosa, T., Borrajo, D.: Using the relaxed plan heuristic to select goals in oversubscription planning problems. In: Lozano, J., Gámez, J., Moreno, J. (eds.) Advances in Artificial Intelligence. Lecture Notes in Computer Science, vol. 7023, pp. 183–192. Springer, Heidelberg (2011)
Yu, Y., Mann, G.K., Gosine, R.G.: A goal-directed visual perception system using object-based top-down attention. IEEE Transactions on Autonomous Mental Development 4(1), 87–103 (2012)
Langley, P., Laird, J.E., Rogers, S.: Cognitive architectures: Research issues and challenges. Cognitive Systems Research 10(2), 141–160 (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Palomino, A.J., Marfil, R., Bandera, J.P., Bandera, A. (2016). A New Cognitive Architecture for Bidirectional Loop Closing. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_56
Download citation
DOI: https://doi.org/10.1007/978-3-319-27149-1_56
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-27148-4
Online ISBN: 978-3-319-27149-1
eBook Packages: Computer ScienceComputer Science (R0)