Designing an Artificial Umwelt: Towards Natural Human-Robot Interaction

第一阶段项目第一年的目标是开发一个新版本的umwelt水平，并开始使用多模态数据进行测试，以探索基于负担能力的观测的发展。系统必须能够识别其环境中的对象，然后识别它们的启示。一旦在环境水平中正确地推断出对象可供性，这使得对通信可供性的检测-例如通过语音或手势或眼睛凝视识别通信意图-成为可能，从而打开识别其他代理的能力，以及获得与其环境中的其他代理进行通信的渠道。在这一阶段，主体与周围物体的互动也将在这些互动中建立起理解，创造出扎根的意义。第二阶段在这一阶段，工作可以开始正式使用CNS水平将感知-运动和环境层连接在一起。取决于成功的umwelt正确检索相关信息的perceptuo电机，系统ofpreprocessing驱动程序可能需要实现的数据转换成一种形式，其中umwelt水平更能够形成representationsfrom.Phase three一种机制，目标生产，然后需要作出，这将使用的启示，在其环境中，以改变其内部状态。对环境的观察将被认为是在环境内部进行的，因此系统将能够通过尝试改变与之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环境的意愿将发生在意识层面，并旨在模拟意识决策。第四阶段至此，系统将拥有一个心理理论。从这里可以检查缩放系统的效果。随着模型的组合，系统的示能性将根据代理的模态而改变。在这方面的工作可以检查代理人的能力，以识别其他代理人的目标，以及沟通的姿态，如眼睛凝视。

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.