EAGER: Innate Theories in Cognitive Robotics

研究是为了建立先天理论在认知机器人中的作用。当前的体系结构有一个主要的弱点：语义层，尽管可能是按照生物系统的模式来选择的，但却是以一种特别的方式选择的。这个项目为以下层次的认知功能发展领域理论：？自我认知:?车辆动力控制：刚体运动是处理物理世界的基础，而李代数是关键的领域理论。特殊的约束条件？游戏规则（如交通规则）：基于规则的系统提供了理解规则的基本方法。用户交互？智能体行为：图特征向量聚类用于分割其他智能体的基本行为，包括人。操作环境？主动实施例计算和通信控制：关于延迟、吞吐量、优先级和参数选择的高级策略提供了一个领域理论。具体来说，该项目研究了对称理论如何在一种新的感知-行动架构中被利用。对称在我们对世界的理解中扮演着重要的角色，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操作符，使得在执行其他操作时识别对象或保持特定约束成为可能。研究了对称算子在信号分析、概念形成、学习和平台控制中的应用。这项工作的潜在影响是一个更具凝聚力、表现力、适应性和有效性的认知机器人框架。研究结果将在机器人和人工智能会议以及国际研讨会（例如，达格施图尔城堡）上发布。潜在的应用包括：认知车辆、传感器网络、建筑、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.