cognitive development and the icub
TRANSCRIPT
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Cognitive Developmentand
The iCub Humanoid Robot
Second EUCogII Members Conference"Development of Cognition in Artificial Agents“
Zürich29 January 2010
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iCub
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Giulio Sandini, IIT & U. GenoaGiorgio Metta, IIT & U. GenoaLorenzo Natale, IIT & U. GenoaFrancesco Nori, IIT & U. GenoaPaul Fitzpatrick, IIT & U. GenoaFrancesco Orabona, IIT & U. GenoaMatteo Brunettini, IIT & U. GenoaAlessandro Scalzo, IITMarco Maggiali, IITMarco Randazzo IITRoberto Puddu, IITGabriele Tabbita, IITWalter Fancellu, IITBruno Bonino, IITFabrizio Larosa, IITClaudio Lorini, IITLuciano Pittera, IITDavide Dellepiane, IITMattia Salvi, IITLuca Rivano, IITRavinder Dahiya, IITAlberto Parmiggiani, IITMatteo Fumagalli, IITAlexander Schmitz, IITDiego Torazza, IITNikos Tsagarakis, IIT & U. SheffieldDarwin Caldwell, IIT & U. SheffieldFrancesco Becchi, TeleRobotPaolo Pino, TeleRobotGiulio Maggiolo, TeleRobotGabriele Careddu TeleRobotJohn Gray, U. SheffieldDavid Vernon, U. Genoa
Rolf Pfeifer, U. ZurichHarold Martinez, U. ZurichGabriel Gomez, U. ZurichAlexandre Schmitz, U. ZurichYvonne Gustain, U. ZurichJonas Ruesch, U. Zurich Kerstin Dautenhahn, U. HertfordshireChrystopher L. Nehaniv, U. HertfordshireHatice Kose-Bagci, U. HertfordshireFrank Broz, U. HertfordshireNaeem Assif Mirza, U. HertfordshireDorothée François, U. HertfordshireLars Olsson, U. HertfordshireQiming Shen, U. HertfordshireCecilia Laschi, SSSAPaolo Dario, SSSAFernando Gamarra, SSSADavide Zambrano, SSSAEgidio Falotico, SSSAMaria Chiara Carrozza, SSSAGiovanni Stellin, SSSAGiovanni Cappiello, SSSAAude Billard, EPFLAuke Ijspeert, EPFLSarah Degallier, EPFLLudovic Righetti, EPFLS. Gay, EPFL
José Santos-Victor, ISTAlexandre Bernardino, IST Ricardo Beira, ISTBruno Damas, STJonas Hornstein, , ISTLuís Vargas, ISTRicardo Nunes, ISTHugo Alves, ISTNuno Conraria, ISTJulio Gomes, IST Matteo Tajana, IST Giovanni Saponnaro, IST Christian Wressengger, IST Dario Figueira, IST Rodrugo Ventura, IST Miguel Praça, IST Jonas Ruesch, IST Luís Montesano, IST Manuel Lopes, IST Luciano Fadiga, U. FerraraLaila Craighero, U. FerraraAndrey Olyniyck, U. FerraraLivio Finos, U. FerraraGiovanni Ottoboni, U. Ferrara Claes von Hofsten, U. UppsalaKerstin Rosander, U. UppsalaOlga Kochukova, U. UppsalaHelena Gronqvist, U. Uppsala
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U. of Genoa/IIT Scuola S. Anna U. of Zurich U. of Uppsala U. of Ferrara
U. Hertfordshire IST - Lisbon U. Sheffield/IIT EPFL Telerobot S.r.l
Giulio SandiniGiorgio Metta
Cecilia LaschiPaolo Dario
Rolf Pfeifer Claes von Hofsten Luciano Fadiga
Darwin CaldwellNikos Tsagarakis
José Santos-VictorAlexandre Bernardino
Aude BillardAuke Ijspeert
Francesco BecchiKerstin DautenhahnChrystopher L. Nehaniv
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Head Design (IST)
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Face/Cover Design (IST)
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Facial Expressions (IST)
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Smooth Pursuit(U. Uppsala, IST, SSSA)
4‐week‐old
9‐week‐old
Perception and anticipation of the upcoming motion
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“Uppsala drum” – where we can rotate the base and/or the target
Manuel Lopes, Alexandre Bernardino, José Santos-Victor, Claes von Hofsten and Kerstin Rosander. Biomimetic Eye-Neck Coordination. IEEE -International Conference on Development and Learning, Shanghai, China, 2009.
Smooth Pursuit(U. Uppsala, IST)
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Predictive tracking with temporarily-occluded objects
(U. Uppsala, U. Zürich, SSSA)
4-month-old children move gaze ahead of time to the place where they expect the object to appear
9‐week‐old lag= 740 ms 17‐week‐old lag = 15 ms
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Smooth Pursuit“Infant” Gaze (U. Uppsala & IST)
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Attention
• Posner task (IST & U. Ferrara)
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Attention
• Infant Gaze (U. Uppsala)
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Attention
• Infant Gaze (U. Uppsala)
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Multi-Modal Bottom-Up Attention System (IST & UZH)
Salience Egocentric
flicker faces
skin
Multimodal Saliency-Based Bottom-Up Attention A Framework for the Humanoid Robot iCub, Jonas Ruesch, et al. ICRA 2008.
Attention
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• Top-down (IST)• Representation and detection familiar objects• Learning triggered by depth (proximity based) segmentation
From Pixels to Objects: Enabling a spatial model for humanoid social robots. Dario Figueira, et al. ICRA’09
Attention
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Attention
(IST & UZH)
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Reaching and Grasping
(U. Genoa, IIT, IST)
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Reaching and Grasping
(U. Genoa, IIT, IST)
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Crawling to sitting
Crawling
Kinematic studies of crawling children as they crawled, went from sitting to crawling, and crawling to sitting (U. Uppsala, EPFL)
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Crawling with one hand occupied
Crawling
Kinematic studies of crawling children as they crawled, went from sitting to crawling, and crawling to sitting (U. Uppsala, EPFL)
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Crawling
Kinematic studies of crawling children as they crawled, went from sitting to crawling, and crawling to sitting (U. Uppsala, EPFL)
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(U. Uppsala, EPFL)
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Wiki
Software
Hardware
Drawings
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iCub production
15 iCubs completed and 5 more in production
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Mind as Motion, Port & Van Gelder
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Functionalist & Dualist
Mechanisms are independentof the instantiation
Emergent, Embodied, & Enactive
Embodiment plays a constitutive role in the process of cognition
GOFAI Cognitive Systems
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Breaking the ‘here-and-now barrier’
Bond of UnionM. C. Escher, 1956
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z
Breaking the ‘prior knowledge barrier’
Bond of UnionM. C. Escher, 1956
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z
Bond of UnionM. C. Escher, 1956
The fire-hose of experience
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Cognition: guide actions
– Missing information– Uncertain information– LATE information
• Adapt (make sense of the world)• Anticipate (predict what might happen)
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Cognitive systems
– Anticipate– Assimilate– Adapt
– Predict future events when selecting actions
– Learn from what actually happens– Modify subsequent predictions– Autonomously
Learn & develop
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• What makes an action the right one to choose?
• What type of behaviour does cognition enable?
• What motivates cognition?
• How is perception guided?
• How are actions selected?
• What makes cognition possible?
• Cognitive skills can improve, but what do you need to get started?
• What drives the developmental process?
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Embodiment
Meaning(inter-agent epistemology)
Development
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Meaning emerges through shared consensual experience mediated by interaction
Bond of UnionM. C. Escher, 1956
Bond of UnionM. C. Escher, 1956
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OrganismicEmbodiment
OrganismoidEmbodiment
Physical Embodiment
Structural Coupling
Historical Embodiment
From: T. Ziemke, 2003
OrganismicEmbodimentOrganismicEmbodiment
OrganismoidEmbodimentOrganismoidEmbodiment
Physical EmbodimentPhysical Embodiment
Structural CouplingStructural Coupling
Historical EmbodimentHistorical Embodiment
From: T. Ziemke, 2003
Types of EmbodimentWhy Humanoid Robotics is Special
Shared epistemology ⇒compatible embodiment
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The problem of disparate embodiment & interaction histories
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The problem of disparate embodiment & interaction histories
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Progressive ontogenetic acquisition of anticipatory capabilities
– Cognition cannot short-circuit ontogeny
– Necessarily the product of a process of embodied development
– Initially dealing with immediate events
– Increasingly acquiring a predictive capability
Cognition and perception are functionally-dependent on the richness of the action interface
t
t
Development
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Luc Steels:
1. AI through design2. AI through statistical machine learning3. Self-generated AI
(AI by orchestrating the processes that generate it)
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Self-Generated AI … HOW?
Phylogeny(Cognitive Architecture)
Ontogenesis(Learning & Development + Motivations)
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Co-Determination / Structural Coupling
BUT … simple coupling between sensor and motor surfaces
Perturbation is only effected by the environment
[Note: this ideogram and similar ones to follow were introduced in Maturana and Varela 1987]
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Cognitive system: operationally-closed system with a nervous system
Nervous system facilitates a highly-plastic mapping between sensor and motor surfaces
Perturbation by both environment and system (of receptors & NS)
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“Development is the result of a process with two foci, one in the central nervous system and one in the subject’s dynamic interactions with the environment”
Claes von Hofsten
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t
tAnticipation / Planning / Deliberation / Prediction
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INTERACTION
A shared activity in which the actions of each agentInfluence the actions of the other agents in the same interactionResulting in a mutually-constructed pattern of shared behaviour[Ogden et al.]
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COGNITION & SENSE-MAKING
Is a process whereby the issues that are important for the continued existence of the cognitive entityare brought forth: co-determined by the entity as it interactswith the environment in which it is embedded
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PERCEPTION, ACTION, and COGNITION
form a single process of self-organization in the specific context of environmental perturbations of the system
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THE SPACE OF PERCEPTUAL POSSIBILITIES
Is predicated not on an objective environment, but on the space of possible actionsthat the system can engage in whilst still maintaining the consistency of its coupling with the environment
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EmergentSystems
Self-Organization
Co-determination
Co-development
Phylogeny Ontogeny
Embodiment
Humanoid
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EmergentSystems
Self-Organization
Co-determination
Co-development
Phylogeny Ontogeny
Embodiment
Morphology is a constitutive component of both co-determination and co-developmentConsequently, a plastic morphology is important: the embodiment shouldn’t be static
Humanoid
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EmergentSystems
Self-Organization
Co-determination
Co-development
Phylogeny Ontogeny
Embodiment
CognitiveDevelopment
Increasing complexity in action space
Increasing degree of Prospection
Humanoid
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Self-modification
Learning: to tunephylogenetic skills
Development:change system dynamics
new action spaces
Exploratory motives
Social motives
Novel regularities in the world
Potential of own actions
agent interaction: mutually-constructed patterns of behaviour
Mechanism to rehearsehypothetical scenariosModerate
actual behaviour
Network ofcooperating/competing
circuits
Each with ownlimited encodings
LearningSupervised
Reinforcement
Unsupervised
EmbodimentAction-PerceptionCouplings
Model Generation
Cognitive ArchitectureCognitive ArchitectureThe iCub Phylogeny
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Software ArchitectureMultiple YARP processes
Running on multiple processors
Gbit ethernet
Level 0 APIs: data acquisition & motor control
DSP
iCubEmbeddedSystems
HUB
DSP DSP DSP
Sensors & Actuators
Level 1 APIs: perception/action behaviours
Cognitive Architecture
Innate perception/action primitives loose federation of behaviours
Based on phylogenic
configuration
own learning model
Level 2 APIs: Prospective Action Behaviours
Coordinated operation: Ontogenic Development
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Phylogenetic self-organizing perceptuo-motor skills
Modulation circuit: homeostatic action selection by disinhibition of perceptuo-motor skills
Motivation(Amygdala)
Auto-associativeMemory
(Hippocampus)
ActionSelection
(Basal Ganglia)
Motor/Sensoryhetero-associative
memory
Sensory/Motorhetero-associative
memory
simulated motor signals
simulated sensory signals
Prospection byaction simulation
Perturbation
The RobotCub Cognitive Architecture for the iCub
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– Improve the predictive performance
– Increase the space of viable actions
Key Issue:Development
Self-modification
Learning: to tunephylogenetic skills
Development:change system dynamics
new action spaces
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Three purposes of internal simulation:
1. Prediction: future events
2. Reconstruction: explaining observed events (imagining a causal chain leading to that event)
3. Imagination: internal simulation as a way of imagining new ideas
Key Issue: Internal Simulation
Mechanism to rehearsehypothetical scenariosModerate
actual behaviour
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Key Issue: Exogenous and Endogenous
Exogenous: curiosity
Sensori-motor learning
Endogenous: experimentation
Experience-based generative development & operation
Exploratory motivesNovel regularities in the world
Potential of own actions
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Gaze Control(IST, SSSA, U. Uppsala)
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Reach& Grasp
(U. Genoa, IIT, IST)
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Crawling(EPFL)
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Attention Sub-system(IST)
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Bhattacharyya distance
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Alternative work on episodic memory at the University of Hertfordshire
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
P A P A P
P
P
A
Prediction & Reconstruction by presenting(Pi, ~, ~) or (~, ~, Pk)
Also possible(Pi, Aj, ~), (~, Aj, Pk), or (Pi, ~, Pk)
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
Interaction Histories at theUniversity of Hertfordshire
Learning affordances at IST
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
SIFT-based object salience at IST
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
x∑New Event | Expired Event ⇒ Curiosity Spike
Predicted Event ≡ Recalled Event ⇒ Experimentation Spike
Level of Curiosity & Experimentation
C, E
Curiosity & Experimentation
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Aural, visual, and proprioceptive sensory data
ControlGaze
iCubInterface
AttentionSelection
ExogenousSalience
EndogenousSalience Vergence
ActionSelection
ProceduralMemory
EpisodicMemory
A Priori Feature Values
Egosphere
Reach & Grasp
AffectiveState
Loco-motion
argmax (Curiosity Level, Experimentation Level)
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(exogenous)salience
attentionSelection
/right/view/icub/cam/right
controlGaze2
cameraCalib egoSphere
/remoteEgoSphere
/o:velocity
/o:position
/i:gaze
/i:map
/right/map /right/out /mapVisual/map_in
/mapVisual/rgb_in
/map_out
/pos
/vel /o:status
/conf
/remoteEgoSphere
/episodicMemory/action:i
EndogenousSalience
/salience:o
From /episodicMemory/image:o/logpolarImage:i
From /icub/head/state:o/head:i
/cartesianImage:i
/mapObject/bottle_in
/segmentedImage:oTo viewer
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episodicMemory
proceduralMemory
/image:i/icub/cam/right
controlGaze2
logPolarTransform logPolarTransform
/imageId:i
/head:i
/weights:o
/action:o/mode:i
/imageId:i /imageId:o
/recalledImage:o
/imageId:o
From /attentionSelection/o:position
/pos
/action:i
TO /endogenousSalience/logpolarImage:i
actionSelectionaffectiveState/mode:o
/mode:i
/imageId:i /state:o /state:i
From /icub/head/state:o
To viewer
To viewer
/retrievedImage:o
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A thesis for discussion:
“Cognition emerges during development in a close interplay of experience, of the social and physical environment and of the neuronal mechanisms of growth.
An understanding of cognition cannot be achieved without an understanding of the development of cognition.
It is thus an necessity for artificial cognitive systems to take development on board”
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Key Research Topics for the Future
Imagination
Self-Modification
Plasticity
Redundancy
Internal Dynamics
Social motives
The value system: creating order
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Thank You!
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Giulio Sandini, IIT & U. GenoaGiorgio Metta, IIT & U. GenoaLorenzo Natale, IIT & U. GenoaFrancesco Nori, IIT & U. GenoaPaul Fitzpatrick, IIT & U. GenoaFrancesco Orabona, IIT & U. GenoaMatteo Brunettini, IIT & U. GenoaAlessandro Scalzo, IITMarco Maggiali, IITMarco Randazzo IITRoberto Puddu, IITGabriele Tabbita, IITWalter Fancellu, IITBruno Bonino, IITFabrizio Larosa, IITClaudio Lorini, IITLuciano Pittera, IITDavide Dellepiane, IITMattia Salvi, IITLuca Rivano, IITRavinder Dahiya, IITAlberto Parmiggiani, IITMatteo Fumagalli, IITAlexander Schmitz, IITDiego Torazza, IITNikos Tsagarakis, IIT & U. SheffieldDarwin Caldwell, IIT & U. SheffieldFrancesco Becchi, TeleRobotPaolo Pino, TeleRobotGiulio Maggiolo, TeleRobotGabriele Careddu TeleRobotJohn Gray, U. SheffieldDavid Vernon, U. Genoa
Rolf Pfeifer, U. ZurichHarold Martinez, U. ZurichGabriel Gomez, U. ZurichAlexandre Schmitz, U. ZurichYvonne Gustain, U. ZurichJonas Ruesch, U. Zurich Kerstin Dautenhahn, U. HertfordshireChrystopher L. Nehaniv, U. HertfordshireHatice Kose-Bagci, U. HertfordshireFrank Broz, U. HertfordshireNaeem Assif Mirza, U. HertfordshireDorothée François, U. HertfordshireLars Olsson, U. HertfordshireQiming Shen, U. HertfordshireCecilia Laschi, SSSAPaolo Dario, SSSAFernando Gamarra, SSSADavide Zambrano, SSSAEgidio Falotico, SSSAMaria Chiara Carrozza, SSSAGiovanni Stellin, SSSAGiovanni Cappiello, SSSAAude Billard, EPFLAuke Ijspeert, EPFLSarah Degallier, EPFLLudovic Righetti, EPFLS. Gay, EPFL
José Santos-Victor, ISTAlexandre Bernardino, IST Ricardo Beira, ISTBruno Damas, STJonas Hornstein, , ISTLuís Vargas, ISTRicardo Nunes, ISTHugo Alves, ISTNuno Conraria, ISTJulio Gomes, IST Matteo Tajana, IST Giovanni Saponnaro, IST Christian Wressengger, IST Dario Figueira, IST Rodrugo Ventura, IST Miguel Praça, IST Jonas Ruesch, IST Luís Montesano, IST Manuel Lopes, IST Luciano Fadiga, U. FerraraLaila Craighero, U. FerraraAndrey Olyniyck, U. FerraraLivio Finos, U. FerraraGiovanni Ottoboni, U. Ferrara Claes von Hofsten, U. UppsalaKerstin Rosander, U. UppsalaOlga Kochukova, U. UppsalaHelena Gronqvist, U. Uppsala
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