Hemion, Nikolas: Building Blocks for Cognitive Robots: Embodied Simulation and Schemata in a Cognitive Architecture. 2013
Inhalt
- 1 Introduction
- 2 Cognitive Architecture: Overview of Theoretical Paradigms and Computational Models
- 2.1 Structure of the Cortex: A Brief Introduction
- 2.2 Cognitivism
- 2.3 Behavior-based Robotics
- 2.4 Connectionism
- 2.5 Dynamicism
- 2.6 Discussion
- 3 A New Cognitive Architecture Based on Embodied Simulation
- 3.1 Theoretical Background on Embodied Cognition
- 3.1.1 The Convergence-Divergence Model
- 3.1.2 Embodied Concepts and Embodied Simulation
- 3.1.3 The Concept of Schema
- 3.1.4 Summary
- 3.2 Related Computational Models
- 3.3 A Cognitive Architecture Based on Embodied Simulation
- 3.3.1 The Schema System
- 3.3.2 The Motor-, Sensory- and Motivation Systems
- 3.3.3 Mechanics of the Building Blocks
- 3.3.4 Network Layout in the Schema System
- 3.4 Discussion
- 4 Integration of Internal Models by Making Use of Redundancies
- 4.1 Integration of Internal Models in Robotics
- 4.1.1 Approaches Based on Serialization
- 4.1.2 Approaches Based on Linear Combination
- 4.1.3 Approaches Based on Prioritization
- 4.2 Making Use of Redundancies for the Integration of Internal Models
- 4.2.1 Redundancy in Sensorimotor Tasks
- 4.2.2 Dynamic Selection of Solutions Using Dynamic Neural Fields
- 4.2.3 Distribibuted Decision Making in Co-ordinated DNFs
- 4.2.4 Summary
- 4.3 Using Networks of Sigma-Pi Units for the Learning and Query of Redundant Mappings, and for Robot Control
- 4.3.1 Networks of Sigma-Pi Units
- 4.3.2 Evaluation of the Sparsity in Networks of Sigma-Pi Units when Learning Kinematics Models
- 4.3.3 Using Multiple Queries for Distributed Decision Making
- 4.3.4 Using Networks of Sigma-Pi Units for Accurate Robot Control
- 4.4 Simulation Experiment with the iCub Humanoid Robot
- 4.5 Discussion
- 5 Self-Organized Learning of Multiple Internal Models
- 5.1 Bootstrapping the Learning of Internal Models by Exploiting Preliminary Model Predictions
- 5.2 Handling Noise
- 5.3 Example Application of Acquiring a Body-Schema
- 5.4 Discussion
- 6 Conclusion
- 6.1 Summary
- 6.2 Discussion in Relation to Machine Learning and the Field of Cognitive Architecture
- 6.3 Discussion in Relation to Embodied Cognition and the Concept of Schema
- 6.4 Outlook
- References
- A Additional Mathematical Formulations