Abstract. This chapter claims that analogy-making, in particular the structural mapping ability i... more Abstract. This chapter claims that analogy-making, in particular the structural mapping ability is a very basic mechanism in human cognition and thus, it is also a basic mechanism for anticipation. A number of various everyday situations are analyzed that involve anticipation by analogy. Then the role of analogy is discussed in computational term to analyze why using analogy ensures flexible behavior and rapid learning based on a single case. A review of the existing analogy-making models is presented and their limitations are analysed. Then the specific AMBR model of analogymaking is presented, extended and integrated with mechanisms for visual perception and motor control. This is the first analogy-making model working in the real world extracting features from the environment using a camera, building its own representation, reasoning on them by analogy with episodes from long term memory, and acting in the real environment by modeling the process of motor control. The specific mo...
A new approach to anticipations is proposed – anticipation by analogy. Firstly, the role of selec... more A new approach to anticipations is proposed – anticipation by analogy. Firstly, the role of selective attention was explored both with simulation data and psychological experiment. After that, the AMBR model for analogy-making has been extended with a simple anticipatory mechanism and is demonstrated how top-down perception and analogical transfer can both be based on one and the same anticipatory mechanism. Finally, attention and action mechanisms were added to the model and AMBR was implemented in a real robot that behaves in a natural environment. The Importance of Anticipations Humans are anticipatory agents. They always have expectations about the world they live in (sometimes correct, sometimes wrong). Our everyday behavior is based
This chapter outlines an approach to building robots with anticipatory behaviour based on analogi... more This chapter outlines an approach to building robots with anticipatory behaviour based on analogies with past episodes. Anticipatory mechanisms are used to make predictions about the environment and to control selective attention and top-down perception. An integrated architecture is presented that perceives the environment, reasons about it, makes predictions and acts physically in this environment. The architecture is implemented in an AIBO robot. It successfully finds an object in a house like environment. The AMBR model of analogy-making is used as a basis, but it is extended with new mechanisms for anticipation related to analogical transfer, for top down perception and selective attention. The bottom up visual processing is performed by the IKAROS system for brain modelling. The chapter describes the first experiments performed with the AIBO robot and demonstrates the usefulness of the analogy-based anticipation approach.
This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple ... more This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple is a hybrid cognitive model consisting of three interacting modules – the reasoning, the connectionist, and the emotion engines – running in parallel. The interplay between these three modules is discussed in the paper with a focus on the role and implementation of the emotion engine which is based on the FAtiMA agent architecture. The influence of emotions in Triple is related to the volume of the working memory, the speed of the inference mechanisms, the interaction between the reasoning and the connectionist engine, and the connectionist engine itself. Emotions will increase the most important cognitive aspects of the model like context sensitivity, rich experiential episodic knowledge and anticipatory mechanisms. Apart from higher flexibility and richness of the representations a considerable improvement in believability is expected from Triple augmented with emotion mechanisms.
The work presented in this dissertation investigates the problem for resource management of auton... more The work presented in this dissertation investigates the problem for resource management of autonomous robots. Acting under the constraint of limited resources is a necessity for every robot which should perform tasks independent of human control. Some of the most important variables and performance criteria for adaptive behavior under resource constraints are discussed. Concepts like autonomy, self-sufficiency, energy dynamics, work utility, effort of action, and optimal task selection are defined and analyzed as the emphasis is on the resource balance in interaction with a human. The primary resource for every robot is its energy. In addition to the regulation of its “energy homeostasis”, a robot should perform its designer’s tasks with the required level of efficiency. A service robot residing in a human-centered environment should perform some social tasks like cleaning, helping elderly people or delivering goods. Maintaining a proper quality of work and, at the same time, not r...
Decades of research have shown that emotions are an essential component of human intelligence. Ho... more Decades of research have shown that emotions are an essential component of human intelligence. However there are few attempts to model the interplay of emotions and other cognitive processes. In this article, we investigate the integration of emotion in a hybrid cognitive architecture on analogy-making. Two computer simulations are conducted to explore the effects of emotion on memory retrieval and analogical mapping. The results are consistent with empirical findings and show that emotions can lead to complex behavior which could be beneficial for the adaptability of an embodied cognitive agent to its environment.
ABSTRACT In this paper is investigated the problem of managing limited resources in human-robot i... more ABSTRACT In this paper is investigated the problem of managing limited resources in human-robot interaction with a computational architecture of emotion. The architecture is based on the appraisal theory of affect and an ethological motivational model of task selection. Key variables and performance criteria for robotic energy autonomous behaviour in interaction with humans are discussed. The role of arousal for modulating effort of movement is explored. It is shown that the architecture can manage task selection and the effort of the movement and offers sustainable basic-cycles in exemplar “two-resource problem” test-bed scenarios for an iCub robot. An extension of the architecture with a third ‘resource’ – safety – is presented and how the architecture is able to solve the new ‘threeresource’ problem is demonstrated.
Abstract: A generic learning control (LC) approach for various type robotic systems in point-to-p... more Abstract: A generic learning control (LC) approach for various type robotic systems in point-to-point motion tasks (PTPMT) has been developed. It employs simple, but consistent with the optimal control theory, test control functions. A modular program system with a user-friendly interface is developed where appropriate neural networks (NN) are involved for the first time. The program system was successfully verified using two dynamic models: a two-link robotic manipulator and a mobile robot with two independently driven wheels.
In this chapter, we present a minimalist approach to utilizing the computational principles of af... more In this chapter, we present a minimalist approach to utilizing the computational principles of affective processes and emotions for autonomous robotics applications. The focus of this paper is on the presentation of this framework in reference to preservation of agent autonomy across levels of cognitive-affective competences. This approach views autonomy in reference to i) embodied (e.g. homeostatic), and ii) dynamic (e.g. neural-dynamic) processes, required to render adaptive such cognitive-affective competences. We hereby focus on bridging bottom-up (standard autonomous robotics) and top-down (psychology-based dimensional theoretic) modelling approaches. Our enactive approach we characterize according to bi-directional grounding (interdependent bottom-up and top-down regulation). As such, from an emotions theory perspective, 'enaction' is best understood as an embodied and dynamic appraisal perspective. We attempt to clarify our approach with relevant case studies and comparison to other existing approaches in the modelling literature.
This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple ... more This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple is a hybrid cognitive model consisting of three interacting modules-the reasoning, the connectionist, and the emotion enginesrunning in parallel. The interplay between these three modules is discussed in the paper with a focus on the role and implementation of the emotion engine which is based on the FAtiMA agent architecture. The influence of emotions in Triple is related to the volume of the working memory, the speed of the inference mechanisms, the interaction between the reasoning and the connectionist engine, and the connectionist engine itself. Emotions will increase the most important cognitive aspects of the model like context sensitivity, rich experiential episodic knowledge and anticipatory mechanisms. Apart from higher flexibility and richness of the representations a considerable improvement in believability is expected from Triple augmented with emotion mechanisms.
Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
Abstract: The proposed paper addresses various-type robots that have to perform dynamic point-to-... more Abstract: The proposed paper addresses various-type robots that have to perform dynamic point-to-point motion tasks (PTPMT). The performance demands are for faster motion, higher positioning accuracy, and lower energy cost. We propose a generic, model-free approach for control synthesis of various type robotic systems in PTPMT. Our procedure for iterative learning control (LC) has the following main steps:(1) choose a set of appropriate test control functions;(2) define the most relevant input-output pairs; and (3) solve shooting equations ...
ABSTRACT A computational architecture of emotion is presented which grounds a component of an app... more ABSTRACT A computational architecture of emotion is presented which grounds a component of an appraisal cognitive model into the homeostatic processes of a humanoid robot. The focus of the present work entails a ‘grounding’ of the arousal component of the PAD emotion space into the electrical energy processes of an iCub robot. Key variables and performance criteria for robotic energy autonomous behavior in interaction with human are discussed. We show that our bio-inspired affective architecture offers viable basic cycles in exemplar “two-resource problem” test-bed scenarios for a real iCub robot. The expression of the robot’s emotional state and its role for the efficient interaction in the proposed two-resource problem task is discussed and experimental designs are presented.
This chapter outlines an approach to building robots with anticipatory behavior based on analogie... more This chapter outlines an approach to building robots with anticipatory behavior based on analogies with past episodes. Anticipatory mechanisms are used to make predictions about the environment and to control selective attention and top-down perception. An integrated architecture is presented that perceives the environment, reasons about it, makes predictions and acts physically in this environment. The architecture is implemented in an AIBO robot. It successfully finds an object in a house-like environment. The AMBR model of analogy-making is used as a basis, but it is extended with new mechanisms for anticipation related to analogical transfer, for top down perception and selective attention. The bottom up visual processing is performed by the IKAROS system for brain modeling. The chapter describes the first experiments performed with the AIBO robot and demonstrates the usefulness of the analogy-based anticipation approach.
This chapter claims that analogy-making, in particular the structural mapping ability is a very b... more This chapter claims that analogy-making, in particular the structural mapping ability is a very basic mechanism in human cognition and thus, it is also a basic mechanism for anticipation. A number of various everyday situations are analyzed that involve anticipation by analogy. Then the role of analogy is discussed in computational term to analyze why using analogy ensures flexible behavior and rapid learning based on a single case. A review of the existing analogy-making models is presented and their limitations are analysed. Then the specific AMBR model of analogymaking is presented, extended and integrated with mechanisms for visual perception and motor control. This is the first analogy-making model working in the real world extracting features from the environment using a camera, building its own representation, reasoning on them by analogy with episodes from long term memory, and acting in the real environment by modeling the process of motor control. The specific model of visual information processing implements a model of active vision with strong top-down pressures arising from the past experience. In this model there is a strong interaction between visual perception, analogical retrieval and analogical mapping-they are working in parallel and influence and enhance each other. This model was implemented in a real AIBO robot and tested in the real world with simple examples. There is a lot to be done for extending the model and testing it with more complicated examples.
This thesis consists of six chapters which include an introduction and an overview of relevant re... more This thesis consists of six chapters which include an introduction and an overview of relevant research, and the following three articles:
Computational modeling has played an important role in research on analogy since its earliest day... more Computational modeling has played an important role in research on analogy since its earliest days. This symposium will present some of the most recent developments in the computational modeling of analogy, including models of the process of analogy-making, ...
... Montebelli, A., Ieropoulos, I., Lowe, R., Melhuish, C., Greenman, J., Ziemke, T.. An oxygen-d... more ... Montebelli, A., Ieropoulos, I., Lowe, R., Melhuish, C., Greenman, J., Ziemke, T.. An oxygen-diffusion cathode MFC model for simulation of energy-autonomous robots. (Submitted-2011) Page 14. 14 Kiril Kiryazov, Robert Lowe, Christian Becker-Asano, and Tom Ziemke 26. ...
Proceedings of 30th Annual Meeting of the Cognitive Science Society (CogSci 2008), Washington DC, Jul 1, 2008
Decades of research have shown that emotions are an essential component of human intelligence. Ho... more Decades of research have shown that emotions are an essential component of human intelligence. However there are few attempts to model the interplay of emotions and other cognitive processes. In this article, we investigate the integration of emotion in a hybrid cognitive architecture on analogy-making. Two computer simulations are conducted to explore the effects of emotion on memory retrieval and analogical mapping. The results are consistent with empirical findings and show that emotions can lead to complex behavior ...
Proceedings of the Second European Cognitive Science Conference, 2007
A new approach to anticipations is proposed–anticipation by analogy. Firstly, the role of selecti... more A new approach to anticipations is proposed–anticipation by analogy. Firstly, the role of selective attention was explored both with simulation data and psychological experiment. After that, the AMBR model for analogy-making has been extended with a simple anticipatory mechanism and is demonstrated how top-down perception and analogical transfer can both be based on one and the same anticipatory mechanism. Finally, attention and action mechanisms were added to the model and AMBR was implemented ...
Abstract. This chapter claims that analogy-making, in particular the structural mapping ability i... more Abstract. This chapter claims that analogy-making, in particular the structural mapping ability is a very basic mechanism in human cognition and thus, it is also a basic mechanism for anticipation. A number of various everyday situations are analyzed that involve anticipation by analogy. Then the role of analogy is discussed in computational term to analyze why using analogy ensures flexible behavior and rapid learning based on a single case. A review of the existing analogy-making models is presented and their limitations are analysed. Then the specific AMBR model of analogymaking is presented, extended and integrated with mechanisms for visual perception and motor control. This is the first analogy-making model working in the real world extracting features from the environment using a camera, building its own representation, reasoning on them by analogy with episodes from long term memory, and acting in the real environment by modeling the process of motor control. The specific mo...
A new approach to anticipations is proposed – anticipation by analogy. Firstly, the role of selec... more A new approach to anticipations is proposed – anticipation by analogy. Firstly, the role of selective attention was explored both with simulation data and psychological experiment. After that, the AMBR model for analogy-making has been extended with a simple anticipatory mechanism and is demonstrated how top-down perception and analogical transfer can both be based on one and the same anticipatory mechanism. Finally, attention and action mechanisms were added to the model and AMBR was implemented in a real robot that behaves in a natural environment. The Importance of Anticipations Humans are anticipatory agents. They always have expectations about the world they live in (sometimes correct, sometimes wrong). Our everyday behavior is based
This chapter outlines an approach to building robots with anticipatory behaviour based on analogi... more This chapter outlines an approach to building robots with anticipatory behaviour based on analogies with past episodes. Anticipatory mechanisms are used to make predictions about the environment and to control selective attention and top-down perception. An integrated architecture is presented that perceives the environment, reasons about it, makes predictions and acts physically in this environment. The architecture is implemented in an AIBO robot. It successfully finds an object in a house like environment. The AMBR model of analogy-making is used as a basis, but it is extended with new mechanisms for anticipation related to analogical transfer, for top down perception and selective attention. The bottom up visual processing is performed by the IKAROS system for brain modelling. The chapter describes the first experiments performed with the AIBO robot and demonstrates the usefulness of the analogy-based anticipation approach.
This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple ... more This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple is a hybrid cognitive model consisting of three interacting modules – the reasoning, the connectionist, and the emotion engines – running in parallel. The interplay between these three modules is discussed in the paper with a focus on the role and implementation of the emotion engine which is based on the FAtiMA agent architecture. The influence of emotions in Triple is related to the volume of the working memory, the speed of the inference mechanisms, the interaction between the reasoning and the connectionist engine, and the connectionist engine itself. Emotions will increase the most important cognitive aspects of the model like context sensitivity, rich experiential episodic knowledge and anticipatory mechanisms. Apart from higher flexibility and richness of the representations a considerable improvement in believability is expected from Triple augmented with emotion mechanisms.
The work presented in this dissertation investigates the problem for resource management of auton... more The work presented in this dissertation investigates the problem for resource management of autonomous robots. Acting under the constraint of limited resources is a necessity for every robot which should perform tasks independent of human control. Some of the most important variables and performance criteria for adaptive behavior under resource constraints are discussed. Concepts like autonomy, self-sufficiency, energy dynamics, work utility, effort of action, and optimal task selection are defined and analyzed as the emphasis is on the resource balance in interaction with a human. The primary resource for every robot is its energy. In addition to the regulation of its “energy homeostasis”, a robot should perform its designer’s tasks with the required level of efficiency. A service robot residing in a human-centered environment should perform some social tasks like cleaning, helping elderly people or delivering goods. Maintaining a proper quality of work and, at the same time, not r...
Decades of research have shown that emotions are an essential component of human intelligence. Ho... more Decades of research have shown that emotions are an essential component of human intelligence. However there are few attempts to model the interplay of emotions and other cognitive processes. In this article, we investigate the integration of emotion in a hybrid cognitive architecture on analogy-making. Two computer simulations are conducted to explore the effects of emotion on memory retrieval and analogical mapping. The results are consistent with empirical findings and show that emotions can lead to complex behavior which could be beneficial for the adaptability of an embodied cognitive agent to its environment.
ABSTRACT In this paper is investigated the problem of managing limited resources in human-robot i... more ABSTRACT In this paper is investigated the problem of managing limited resources in human-robot interaction with a computational architecture of emotion. The architecture is based on the appraisal theory of affect and an ethological motivational model of task selection. Key variables and performance criteria for robotic energy autonomous behaviour in interaction with humans are discussed. The role of arousal for modulating effort of movement is explored. It is shown that the architecture can manage task selection and the effort of the movement and offers sustainable basic-cycles in exemplar “two-resource problem” test-bed scenarios for an iCub robot. An extension of the architecture with a third ‘resource’ – safety – is presented and how the architecture is able to solve the new ‘threeresource’ problem is demonstrated.
Abstract: A generic learning control (LC) approach for various type robotic systems in point-to-p... more Abstract: A generic learning control (LC) approach for various type robotic systems in point-to-point motion tasks (PTPMT) has been developed. It employs simple, but consistent with the optimal control theory, test control functions. A modular program system with a user-friendly interface is developed where appropriate neural networks (NN) are involved for the first time. The program system was successfully verified using two dynamic models: a two-link robotic manipulator and a mobile robot with two independently driven wheels.
In this chapter, we present a minimalist approach to utilizing the computational principles of af... more In this chapter, we present a minimalist approach to utilizing the computational principles of affective processes and emotions for autonomous robotics applications. The focus of this paper is on the presentation of this framework in reference to preservation of agent autonomy across levels of cognitive-affective competences. This approach views autonomy in reference to i) embodied (e.g. homeostatic), and ii) dynamic (e.g. neural-dynamic) processes, required to render adaptive such cognitive-affective competences. We hereby focus on bridging bottom-up (standard autonomous robotics) and top-down (psychology-based dimensional theoretic) modelling approaches. Our enactive approach we characterize according to bi-directional grounding (interdependent bottom-up and top-down regulation). As such, from an emotions theory perspective, 'enaction' is best understood as an embodied and dynamic appraisal perspective. We attempt to clarify our approach with relevant case studies and comparison to other existing approaches in the modelling literature.
This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple ... more This paper presents the introduction of emotion based mechanisms in the Triple ECA model. Triple is a hybrid cognitive model consisting of three interacting modules-the reasoning, the connectionist, and the emotion enginesrunning in parallel. The interplay between these three modules is discussed in the paper with a focus on the role and implementation of the emotion engine which is based on the FAtiMA agent architecture. The influence of emotions in Triple is related to the volume of the working memory, the speed of the inference mechanisms, the interaction between the reasoning and the connectionist engine, and the connectionist engine itself. Emotions will increase the most important cognitive aspects of the model like context sensitivity, rich experiential episodic knowledge and anticipatory mechanisms. Apart from higher flexibility and richness of the representations a considerable improvement in believability is expected from Triple augmented with emotion mechanisms.
Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010
Abstract: The proposed paper addresses various-type robots that have to perform dynamic point-to-... more Abstract: The proposed paper addresses various-type robots that have to perform dynamic point-to-point motion tasks (PTPMT). The performance demands are for faster motion, higher positioning accuracy, and lower energy cost. We propose a generic, model-free approach for control synthesis of various type robotic systems in PTPMT. Our procedure for iterative learning control (LC) has the following main steps:(1) choose a set of appropriate test control functions;(2) define the most relevant input-output pairs; and (3) solve shooting equations ...
ABSTRACT A computational architecture of emotion is presented which grounds a component of an app... more ABSTRACT A computational architecture of emotion is presented which grounds a component of an appraisal cognitive model into the homeostatic processes of a humanoid robot. The focus of the present work entails a ‘grounding’ of the arousal component of the PAD emotion space into the electrical energy processes of an iCub robot. Key variables and performance criteria for robotic energy autonomous behavior in interaction with human are discussed. We show that our bio-inspired affective architecture offers viable basic cycles in exemplar “two-resource problem” test-bed scenarios for a real iCub robot. The expression of the robot’s emotional state and its role for the efficient interaction in the proposed two-resource problem task is discussed and experimental designs are presented.
This chapter outlines an approach to building robots with anticipatory behavior based on analogie... more This chapter outlines an approach to building robots with anticipatory behavior based on analogies with past episodes. Anticipatory mechanisms are used to make predictions about the environment and to control selective attention and top-down perception. An integrated architecture is presented that perceives the environment, reasons about it, makes predictions and acts physically in this environment. The architecture is implemented in an AIBO robot. It successfully finds an object in a house-like environment. The AMBR model of analogy-making is used as a basis, but it is extended with new mechanisms for anticipation related to analogical transfer, for top down perception and selective attention. The bottom up visual processing is performed by the IKAROS system for brain modeling. The chapter describes the first experiments performed with the AIBO robot and demonstrates the usefulness of the analogy-based anticipation approach.
This chapter claims that analogy-making, in particular the structural mapping ability is a very b... more This chapter claims that analogy-making, in particular the structural mapping ability is a very basic mechanism in human cognition and thus, it is also a basic mechanism for anticipation. A number of various everyday situations are analyzed that involve anticipation by analogy. Then the role of analogy is discussed in computational term to analyze why using analogy ensures flexible behavior and rapid learning based on a single case. A review of the existing analogy-making models is presented and their limitations are analysed. Then the specific AMBR model of analogymaking is presented, extended and integrated with mechanisms for visual perception and motor control. This is the first analogy-making model working in the real world extracting features from the environment using a camera, building its own representation, reasoning on them by analogy with episodes from long term memory, and acting in the real environment by modeling the process of motor control. The specific model of visual information processing implements a model of active vision with strong top-down pressures arising from the past experience. In this model there is a strong interaction between visual perception, analogical retrieval and analogical mapping-they are working in parallel and influence and enhance each other. This model was implemented in a real AIBO robot and tested in the real world with simple examples. There is a lot to be done for extending the model and testing it with more complicated examples.
This thesis consists of six chapters which include an introduction and an overview of relevant re... more This thesis consists of six chapters which include an introduction and an overview of relevant research, and the following three articles:
Computational modeling has played an important role in research on analogy since its earliest day... more Computational modeling has played an important role in research on analogy since its earliest days. This symposium will present some of the most recent developments in the computational modeling of analogy, including models of the process of analogy-making, ...
... Montebelli, A., Ieropoulos, I., Lowe, R., Melhuish, C., Greenman, J., Ziemke, T.. An oxygen-d... more ... Montebelli, A., Ieropoulos, I., Lowe, R., Melhuish, C., Greenman, J., Ziemke, T.. An oxygen-diffusion cathode MFC model for simulation of energy-autonomous robots. (Submitted-2011) Page 14. 14 Kiril Kiryazov, Robert Lowe, Christian Becker-Asano, and Tom Ziemke 26. ...
Proceedings of 30th Annual Meeting of the Cognitive Science Society (CogSci 2008), Washington DC, Jul 1, 2008
Decades of research have shown that emotions are an essential component of human intelligence. Ho... more Decades of research have shown that emotions are an essential component of human intelligence. However there are few attempts to model the interplay of emotions and other cognitive processes. In this article, we investigate the integration of emotion in a hybrid cognitive architecture on analogy-making. Two computer simulations are conducted to explore the effects of emotion on memory retrieval and analogical mapping. The results are consistent with empirical findings and show that emotions can lead to complex behavior ...
Proceedings of the Second European Cognitive Science Conference, 2007
A new approach to anticipations is proposed–anticipation by analogy. Firstly, the role of selecti... more A new approach to anticipations is proposed–anticipation by analogy. Firstly, the role of selective attention was explored both with simulation data and psychological experiment. After that, the AMBR model for analogy-making has been extended with a simple anticipatory mechanism and is demonstrated how top-down perception and analogical transfer can both be based on one and the same anticipatory mechanism. Finally, attention and action mechanisms were added to the model and AMBR was implemented ...
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