Cognitive Architecture Ideas
From Wiki for iCub and Friends
- Affective state should influence more than just action selection, e.g.
- an aspect of the associative memory (so that emotions are associated with events)
- a modulator of salience (so that certain features can be modulated by motivations)
- Clarity is needed on distinction between auto-associative and hetero-associative memory modules. A better distinction is between episodic memories, procedural memories, and generalized world modeling. All of these should probably be multimodal with unimodal subnetworks.
- It is not clear to me that there is a fundamental distinction between locomotion, reaching, and grasping. Although the inputs are different (e.g. vestibular system in locomotion and haptic feedback in grasping), the fundamental algorithm might be the same in the brain. All relate to the goal of changing the robots position to a desired location in space. For example, brachiation requires all three of these tasks to be performed as a single coordinated motion.
- Action selection should maybe extend to things other than the hetero-associative memory, locomotion, and reach/grasp. Like affective state, it should probably be able to send signals to much of the system.
- Robot is "born" with only exogenous salience, e.g. closeness, loudness, bright colors, etc. However, as a model is developed of the world endogenous salience comes from looking for known objects in the environment.
- Speaking of objects, we talked about where the notion of objects comes into the cognitive architecture. Rightly so, there is no inherent concept of objecthood. However, objects emerge from closely associated inputs (objects in the loose sense) or learning about the coherence of physical things (objects in a narrower sense).
- Procedural memory needs to be a generative model which can "imagine" consequences of actions and predict future observations. This is likely very important for object affordances that we have discussed.