Aprendizado procedimental e sensório-motor em robôs cognitivos
Abstract
This work presents a cognitive agent based on the CONAIM model (Conscious Attention-Based Integrated Model) that can incrementally learn procedures for carrying out experiments inspired by the first three sensorymotor substages of Jean Piaget’s Theory. The agent was implemented using the Cognitive Systems Toolkit (CST) and validated with mobile robots in simulated environments. Results shown that this approach can solve complex object tracking experiments incrementally.
Keywords:
Cognitive Robotics, Reinforcement Learning, Incremental Learning
References
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Colombini, E. L., da Silva Simões, A., and Ribeiro, C. H. C. (2017). An attentional model for autonomous mobile robots. IEEE Systems Journal, 11(3):1308-1319.
Fuster, J. M. (2006). The cognit: A network model of cortical representation. International Journal of Psychophysiology, 60:125-132.
Paraense, A. L. O., Raizer, K., de Paula, S. M., Gudwin, R. R., and Rohmer, E. (2016). The cognitive systems toolkit and the cst reference cognitive architecture. Biologically Inspired Cognitive Architectures, 17:32-48.
Piaget, J. (1952). The origins of intelligence in children. The origins of intelligence in children. W Norton & Co, New York, NY, US.
Simões, A. d. S., Colombini, E. L., and Ribeiro, C. H. C. (2017). CONAIM: A Conscious Attention-Based Integrated Model for Human-Like Robots. IEEE Systems Journal, 11(3):1296-1307.
Sutton, R. and Barto, A. (2015). Reinforcement Learning: An Introduction. MIT Press. Cambridge, Massachussetts.
Braitenberg, V. (1984). Vehicles: Experiments in Synthetic Psychology. Cambridge MA: MIT Press.
Cangelosi, A. and Schlesinger, M. (2014). Developmental Robotics: From Babies to Robots. The MIT Press.
Colombini, E. L. (2014). An attentional model for intelligent robotics agents. Instituto Tecnológico de Aeronáutica, São José dos Campos (PhD Thesis).
Colombini, E. L., da Silva Simões, A., and Ribeiro, C. H. C. (2017). An attentional model for autonomous mobile robots. IEEE Systems Journal, 11(3):1308-1319.
Fuster, J. M. (2006). The cognit: A network model of cortical representation. International Journal of Psychophysiology, 60:125-132.
Paraense, A. L. O., Raizer, K., de Paula, S. M., Gudwin, R. R., and Rohmer, E. (2016). The cognitive systems toolkit and the cst reference cognitive architecture. Biologically Inspired Cognitive Architectures, 17:32-48.
Piaget, J. (1952). The origins of intelligence in children. The origins of intelligence in children. W Norton & Co, New York, NY, US.
Simões, A. d. S., Colombini, E. L., and Ribeiro, C. H. C. (2017). CONAIM: A Conscious Attention-Based Integrated Model for Human-Like Robots. IEEE Systems Journal, 11(3):1296-1307.
Sutton, R. and Barto, A. (2015). Reinforcement Learning: An Introduction. MIT Press. Cambridge, Massachussetts.
Published
2022-10-18
How to Cite
ROSSI, Leonardo L.; BERTO, Letícia M.; ROHMER, Eric; COSTA, Paula P.; GUDWIN, Ricardo R.; COLOMBINI, Esther L.; SIMÕES, Alexandre S..
Aprendizado procedimental e sensório-motor em robôs cognitivos. In: GRADUATE WORKS CONTEST IN ROBOTICS - CTDR (MSC) - BRAZILIAN SYMPOSIUM OF ROBOTICS & LATIN AMERICAN ROBOTICS SYMPOSIUM (SBR/LARS), 14. , 2022, São Bernardo do Campo/SP.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2022
.
p. 73-84.
DOI: https://doi.org/10.5753/wtdr_ctdr.2022.227371.
