image/svg+xml Cognitive architectures A cognitive architecture is a formal theory of how the mind works, which can be implemented computationally. Understanding information processing systems at three levels of analysis (Marr, 1982) The level of the cognitive architecture is the level at which general cognitive mechanisms can be described irrespective of their implementation (Taatgen & Anderson, 2010), i.e. Marr’s algorithmic level. Alen Newell, the pioneer Newell’s Functional Criteria for a Human Cognitive Architecture1. Behave as an (almost) arbitrary function of the environment2. Operate in real time3. Exhibit rational, i.e., effective adaptive behavior4. Use vast amounts of knowledge about the environment5. Behave robustly in the face of error, the unexpected, and the unknown6. Integrate diverse knowledge7. Use (natural) language8. Exhibit self-awareness and a sense of self9. Learn from its environment10. Acquire capabilities through development11. Arise through evolution What are the parts of the cognition engine? ? - perception- action- control- representation- attention- decision making- learning- memory- planning- ... https://www.youtube.com/watch?v=rITQlGuXXOw Early days: General Problem Solver Separating the knowledge From the strategy of how to solve problems Newell, Shaw, & Simon, 1959 Eliasmith et al., 2012 ACT-R Spaun Semantic Pointer Architecture Unified Network Anderson, 1983 ; Anderson et al., 2004 Pros and cons of top-down approaches High-levelsymbolic reasoning https://www.youtube.com/watch?v=NeFkrwagYfc Poor embodiementand autonomy is more than connecting symbolic reasoning to a body Bottom-up, behavior-based approches A variety of simple behaviors are built into the robot's repertoire. These behaviors are layered and organized into a hierarchy, with more abstract goals farther up the heirarchy. Can you drive only with a motor engine? Brain Body Environment https://www.youtube.com/watch?v=2DsbS9cMOAE https://www.youtube.com/watch?v=csFR52Z3T0I https://www.youtube.com/watch?v=WOPED7I5Lac What is a ball? Feeling softness https://www.youtube.com/watch?v=8c-qbGgEAEI (from 16:06) How to catch a ball? Combining embodied behaviors Subsumption architecture (Brooks, 1986) Pros and cons of bottom-up approaches No high-levelsymbolic reasoning Embodiementand autonomy A key challenge is to bridge both approaches, referred as the symbol-grounding problem."Symbolic representations must be grounded bottom-up in nonsymbolic" (Harnad, 1990). Top-down, Bottom-up and Modern approaches Top-down representation-basedvs.Bottom-up behavior-based Top-down, representation-based approches Asimo vs. Big-DogBut big-dog doesn't play chess A complex internal representation of a task is decomposed into sub-tasks to be executed, recursively Distributed Adaptive Control (DAC) Merging both approaches
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  1. full
  2. cogarch_def
  3. marr_levels
  4. cogarch_def
  5. newell1
  6. newell2
  7. newell_motor
  8. newell_test
  9. cog_engine
  10. cog_engine_list
  11. cogeng icub mods
  12. cogeng gaze
  13. cogeng pick vid
  14. cogeng full arch
  15. full2
  16. classical
  17. gps
  18. actrspaun
  19. actr
  20. spaun
  21. spaun_vid
  22. classical_missing
  23. deep_blue
  24. td_pros
  25. robot_fails
  26. td_cons
  27. embodiment_missing
  28. embodiment is more
  29. full_after_classical
  30. alternative
  31. can you drive
  32. car
  33. car_env
  34. brain body env
  35. spiral
  36. embodied cog
  37. embodied vids
  38. passive walker
  39. soft grasp
  40. soft crawl
  41. embodiment_def
  42. embodiment recap
  43. ball
  44. ball embodied
  45. softness
  46. smc
  47. catch ball
  48. oac
  49. brooks best
  50. subsumption
  51. subsumption vid
  52. alternative missing