Research Repository

Joint Goal Human Robot collaboration-From Remembering to Inferring

Mohan, V and Bhat, AA (2018) 'Joint Goal Human Robot collaboration-From Remembering to Inferring.' Procedia Computer Science, 123. 579 - 584. ISSN 1877-0509

[img]
Preview
Text
1-s2.0-S1877050918301005-main.pdf - Published Version
Available under License Creative Commons Attribution Non-commercial No Derivatives.

Download (1MB) | Preview

Abstract

The ability to infer goals, consequences of one’s own and others’ actions is a critical desirable feature for robots to truly become our companions-thereby opening up applications in several domains. This article proposes the viewpoint that the ability to remember our own past experiences based on present context enables us to infer future consequences of both our actions/goals and observed actions/goals of the other (by analogy). In this context, a biomimetic episodic memory architecture to encode diverse learning experiences of iCub humanoid is presented. The critical feature is that partial cues from the present environment like objects perceived or observed actions of a human triggers a recall of context relevant past experiences thereby enabling the robot to infer rewarding future states and engage in cooperative goal-oriented behaviors. An assembly task jointly done by human and the iCub humanoid is used to illustrate the framework. Link between the proposed framework and emerging results from neurosciences related to shared cortical basis for ‘remembering, imagining and perspective taking’ is discussed.

Item Type: Article
Uncontrolled Keywords: Human robot collaboration, Robot episodic memory, iCub humanoid, internal simulation, Cumulative learning
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 09 Feb 2018 16:41
Last Modified: 09 Feb 2018 16:41
URI: http://repository.essex.ac.uk/id/eprint/21426

Actions (login required)

View Item View Item