Designing an Artificial Umwelt: Towards Natural Human-Robot Interaction

项目第一年的目标是开发一个原始版本的环境水平，并开始使用多模态数据进行测试，以探索基于能力的观测的发展。该系统必须能够识别其环境中的物体，然后识别它们的可见性。一旦在环境层面上正确地推断出物体的可见性，就可以检测到交际的可见性——比如通过语音、手势或眼睛注视来识别交际意图——从而打开识别其他代理的能力，并获得与其环境中的其他代理进行通信的渠道。在这个阶段，智能体与其周围对象的交互也将在这些交互中建立其理解，创造基础意义。在这个阶段，可以开始使用CNS级别将感知-运动层和感知-运动层正式连接在一起。取决于umwelt能否正确地从感知马达中检索相关信息，可能需要实现一个预处理驱动系统，将数据转换为umwelt级别更有能力形成表征的形式。阶段3：然后需要为目标生成一个机制，它将使用其环境中的可用性来改变其内部状态。对其环境的观察将在内部被考虑，因此系统将能够通过尝试改变与此相对应的内部表示来改变其环境的状态。这种通过目标的形成和完成来改变其环境的意志将发生在意识层面，并旨在模拟有意识的决策。到这个时候，系统就有了心智理论。从这里开始，我们可以检查扩展系统的效果。当模型组合在一起时，系统的功能将根据代理的模态而变化。这一领域的工作可以检查智能体识别其他智能体目标的能力，以及眼神凝视等交流手势。

Phase one The aim within the first year of the project is to have developed a primitiveversion of the umwelt level, and begin tests using multi-modal data to explore thedevelopment of affordance-based observations. The system must be capable of recognising objects in its environment, and then recognising their affordances. Once object affordances are inferred correctly in the umwelt level, this makes the detection of communicative affordances - such as recognition of communicative intent through speech or gesture, or eye gaze - possible, opening up the ability to recognise other agents, as well as obtain channels for communicating with other agents in its environment. At this stage, the interaction the agent has with its objects around it will also ground its understanding in these interactions, creating grounded meaning.Phase two At this stage work can beginning on attaching the perceptuo-motor andumwelt layers together formally using the CNS level. Depending on the success of theumwelt to properly retrieve relevant information from the perceptuo-motors, a system ofpre-processing drivers may need to be implemented which transform the data into a formwhich the umwelt level is more capable of forming representations from.Phase three A mechanism for goal production then needs to be made, which will usethe affordances available in its environment to change its internal state. Observations ofits environment will be considered internally within the umwelt, so the system will beable to alter the state of its environment through trying to alter internal representationswhich correspond to this. This will to alter its environment through the formation andcompletion of goals will take place in the conscious level, and is intended to model consciousdecision-making.Phase four By this point the system would have a theory of mind. From here work canbe done on examining the effects of scaling the system. As the model is combined, theaffordances of the system will change depending on the modality of the agent. Work inthis area can examine the abilities of the agent to recognise goals in other agents, as wellas communicative gestures such as eye gaze.