EAGER: Innate Theories in Cognitive Robotics

研究的目的是确定认知机器人学中先天理论的作用。当前的体系结构有一个主要弱点：语义级别，尽管可能是仿照生物系统的模式，但是以一种特别的方式选择的。该项目开发了以下认知功能层次的领域理论：？自我认识：？动力学车辆控制：刚体运动是处理物理世界的基础，李代数是关键领域理论。有什么特别的限制？游戏规则(例如，交通法)：基于规则的系统提供了理解规则的基本方法。用户交互？主体行为：图特征向量聚类用于分割包括人在内的其他主体的基本行为。运营环境如何？主动实例计算和通信控制：关于延迟、吞吐量、优先级和参数选择的高级策略提供了域理论。具体地说，该项目研究如何在新的感知-动作体系结构中利用对称性理论。对称性在我们对世界的理解中扮演着深刻的角色，因为它解决了不变性的问题。确定使状态的某些方面保持不变的运算符，使得在执行其他操作时识别对象或维护特定约束成为可能。研究了信号分析、概念形成、学习和平台控制中的对称算子。这项工作的潜在影响是一个更有凝聚力、更具表现力、更具适应性和更有效的认知机器人框架。结果将在机器人和人工智能会议以及国际讲习班(如Schlos Dagstuhl)上传播。潜在的应用包括：认知车辆、传感器网络、建筑物、互动玩具等。

Research is performed to establish the role of innate theories in cognitive robotics. Current architectures have a major weakness: the semantic levels, although perhaps patterned after biological systems, are selected in an ad hoc way. This project develops domain theories for the following levels of cognitive function:? self-knowledge: ? dynamical vehicle control: rigid body motion is fundamentalto dealing with the physical world, and Lie algebra is used as the key domaintheory.? particular constraints ? rules of the game (e.g., traffic laws): rule-based systems provide the underlying methodology for understanding rules.? user interaction ? agent behavior: graph eigenvector clustering is used to segment basic behaviors of other agents, including people.? operational context ? active embodiment computation and communication control: high-level policies on latency, throughput, priority, and parameter selection provide a domain theory.Specifically, the project studies how symmetry theory can be exploited in a novel perception-action architecture. Symmetry plays a deep role in our understanding of the world, in that it addresses issues of invariance. The determination of operators which leave certain aspects of state invariant makes it possible to identify objects or maintain specific constraints while performing other actions. Symmetry operators in signal analysis, concept formation, learning and platform control are studied. The potential impact of the work is a more cohesive, expressive, adaptable and effective cognitiverobotics framework. Results will be disseminated at robotics and AI conferencesas well as at international workshops (e.g., Schloss Dagstuhl). Potential applications include: cognitive vehicles, sensor networks, buildings, interactive toys, etc.