iCub Visual Memory Inspector: Visualising the iCub’s Thoughts

Camilleri, Daniel; Damianou, Andreas; Jackson, Harry; Lawrence, Neil D.; Prescott, Tony J.

doi:10.1007/978-3-319-42417-0_5

Cited by 4 publications

(6 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As previously noted, recall and imagination are generative processes that involve the rekindling of activity in primary sensory areas including visual cortex. To express this, we have developed the visual memory inspector (VMI), illustrated in figure 7, to provide a window into the ‘first person’ world of the iCub [46]. The VMI builds on a physics-based, three-dimensional simulation engine which is integrated with the multimodal memory to visually display how the current scene, or a restored memory, is represented by the iCub.…”

Section: A Multimodal Memory System For the Icub Robotmentioning

confidence: 99%

See 1 more Smart Citation

Memory and mental time travel in humans and social robots

Prescott

Camilleri

Martinez-Hernandez

et al. 2019

Phil. Trans. R. Soc. B

Self Cite

View full text Add to dashboard Cite

From neuroscience, brain imaging and the psychology of memory, we are beginning to assemble an integrated theory of the brain subsystems and pathways that allow the compression, storage and reconstruction of memories for past events and their use in contextualizing the present and reasoning about the future—mental time travel (MTT). Using computational models, embedded in humanoid robots, we are seeking to test the sufficiency of this theoretical account and to evaluate the usefulness of brain-inspired memory systems for social robots. In this contribution, we describe the use of machine learning techniques—Gaussian process latent variable models—to build a multimodal memory system for the iCub humanoid robot and summarize results of the deployment of this system for human–robot interaction. We also outline the further steps required to create a more complete robotic implementation of human-like autobiographical memory and MTT. We propose that generative memory models, such as those that form the core of our robot memory system, can provide a solution to the symbol grounding problem in embodied artificial intelligence. This article is part of the theme issue ‘From social brains to social robots: applying neurocognitive insights to human–robot interaction’.

show abstract

Section: A Multimodal Memory System For the Icub Robotmentioning

confidence: 99%

“…R. Soc. B 374: 20180025 of the iCub [46]. The VMI builds on a physics-based, threedimensional simulation engine which is integrated with the multimodal memory to visually display how the current scene, or a restored memory, is represented by the iCub.…”

Section: (V) Reconstructing the Sensory Scenementioning

confidence: 99%

Memory and mental time travel in humans and social robots

Prescott

Camilleri

Martinez-Hernandez

et al. 2019

Phil. Trans. R. Soc. B

Self Cite

View full text Add to dashboard Cite

show abstract

“…SSM is also capable of imagining novel inputs or reconstructing previously encountered inputs and sending the corresponding generated sensory data. This allows for the replay of memories as detailed in [92].…”

Section: Adaptive Layermentioning

confidence: 99%

DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self

Moulin-Frier

Fischer

Petit

et al. 2018

IEEE Trans. Cogn. Dev. Syst.

Self Cite

View full text Add to dashboard Cite

Abstract-This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in humanrobot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users.

show abstract

“…The plan to create a synthetic robot self becomes more plausible if we can find good evidence for a ÒsystemsÓ view of self in psychology and cognitive neuroscience. If this human Òself-systemÓ is at least weakly modular, 11 then we can proceed by building the necessary components, then integrating them with each other and within our robot control architecture, gradually approaching a model of the complete self. The psychological literature related to the self is vast, and we will not seek to summarize it here.…”

Section: A "Systems" View Of Selfmentioning

confidence: 99%

“…This leads to the possibility of imagining future events [14]. The ability of the system to reconstruct the sensory pattern associated with a recalled memory [11], retrieved using a verbal cue, suggests that event memory can contribute to the grounding of linguistic symbols in sensorimotor experience. Fig.…”

Section: A Biomimetic Cognitive Architecture For the Robot Selfmentioning

confidence: 99%

The Synthetic Psychology of the Self

Prescott

Camilleri

2018

Intelligent Systems, Control and Automation: Science and Engineering

Self Cite

View full text Add to dashboard Cite

Synthetic psychology describes the approach of "understanding through building" applied to the human condition. In this chapter, we consider the specific challenge of synthesizing a robot "sense of self". Our starting hypothesis is that the human self is brought into being by the activity of a set of transient self-processes instantiated by the brain and body. We propose that we can synthesize a robot self by developing equivalent subsystems within an integrated biomimetic cognitive architecture for a humanoid robot. We begin the chapter by motivating this work in the context of the criteria for recognizing other minds, and the challenge of benchmarking artificial intelligence against human, and conclude by describing efforts to create a sense of self for the iCub humanoid robot that has ecological, temporally-extended, interpersonal and narrative components set within a multi-layered model of mind. Alan Turing, one of the founders of computer science, once suggested that there were two paths to human-level Artificial Intelligence (AI)Ñone through emulating the more abstract abilities of the human mind, such as chess playing, the other, much closer to the spirit of this book, by providing a robot with Òthe best sense organs that money can buy, and then teach[ing] it to understand and speak English. This process could follow the normal teaching of a childÓ [66, p.460]. Turing was noncommittal about which approach would work best and suggested we try both. Two-thirds of a century after Turing, as different AIs battle between themselves to be the worldÕs best at chess [59], it is clear that the first approach has been spectacularly successful at producing some forms of machine intelligence, though not at emulating or approaching Ògeneral intelligenceÓÑthe

show abstract

iCub Visual Memory Inspector: Visualising the iCub’s Thoughts

Cited by 4 publications

References 8 publications

Memory and mental time travel in humans and social robots

Memory and mental time travel in humans and social robots

DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self

The Synthetic Psychology of the Self

Contact Info

Product

Resources

About