Computational Modeling of Prefrontal Cortex for Meta-Cognition of a Humanoid Robot

Abstract

For robot intelligence and human-robot interaction (HRI), complex decision-making, interpretation, and adaptive planning processes are great challenges. These require recursive task processing and meta-cognitive reasoning mechanism. Naturally, the human brain realizes these cognitive skills by prefrontal cortex which is a part of the neocortex. Previous studies about neurocognitive robotics would not meet these requirements. Thus, it is aimed at developing a brain-inspired robot control architecture that performs spatial-temporal and emotional reasoning. In this study, we present a novel solution that covers a computational model of the prefrontal cortex for humanoid robots. Computational mechanisms are mainly placed on the bio-physical plausible neural structures embodied in different dynamics. The main components of the system are composed of several computational modules including dorsolateral, ventrolateral, anterior, and medial prefrontal regions. Also, it is responsible for organizing the working memory. A reinforcement meta-learning based explainable artificial intelligence (xAI) procedure is applied to the working memory regions of the computational prefrontal cortex model. Experimental evaluation and verification tests are processed by the developed software framework embodied in the humanoid robot platform. The humanoid robots' perceptual states and cognitive processes including emotion, attention, and intention-based reasoning skills can be observed and controlled via the developed software. Several interaction scenarios are implemented to monitor and evaluate the model's performance.

Educational Robotics and Robot Creativity: An Interdisciplinary Dialogue

“…As described in the previous section, there are currently attempts to create intrinsically motivated robots using the reinforcement learning approach, especially regarding their intrinsically motivated open-ended learning (Schmidhuber, 2010;Santucci et al, 2020). The research is also marked with some encouraging attempts (Parisi and Petrosino, 2010;Kashani et al, 2012;Daglarli, 2020) to simulate robot's emotional states.…”

Explainable AI for 6G Use Cases: Technical Aspects and Research Challenges

“…Based on the comparison between robot and human mental states updated and inferred by STC-AoG, it is possible to estimate the difference between expected human action and predicted robot response to decide whether explanations are given. Besides graph-based techniques, reinforcement meta-learning XAI algorithms were studied in [185] to interpret spatial-temporal attention and emotion of humanoid robots in collaborative tasks with agents, wherein the explanations are generated and synthesized by a deep belief network, rule-based fuzzy cognitive map, and genetic algorithm to justify robot's self-awareness and decision-making. In the next industrial revolution, digital twins using explainable models and explanation interfaces can become a promising solution to enhance the trustworthiness of AI [182], where 6G will uplift digital twins in many aspects (e.g., effectively handle the massive volume of heterogeneous IoT data in real-time with ultra-low latency and ultra-high throughput, increase flexibility with IIoT deployment and configuration for digital twin refinement, improve analysis accuracy in manufacturing operation and reduce time and cost with predictive maintenance).…”

Is Turing Test Still Proficient and Operative at Present State of the Art?: Beyond Turing Test for the Next Generation Ai Frameworks

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“…As it is seen, Turing evaluates the intelligence of the machine in his test as a functional tool. With similar logic, the mind also processes input information that is received by sensory stimuli and generates output as a result of a behavior [3,4]. When these outputs are considered, the final feature of the being, which has a function between the input and the output as a result of behavior determined by observation will be the behavior, in which the presence and absence of a mind, consciousness, and intelligence, and if any, how humanoid it is.…”