| 1. |
- Balkenius, Christian, et al.
(författare)
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Arousal and awareness in a humanoid robot
- 2018
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Ingår i: CEUR Workshop Proceedings. - 1613-0073. ; 2287
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Tidskriftsartikel (refereegranskat)abstract
- We describe how an arousal system that controls the levels of awareness can be implemented in a robot. The different levels of awareness correspond to different states of consciousness and we argue that an artificial arousal system modeled after its biological counterpart has a useful function in controlling the cognitive processing of a brain-like cognitive architecture. The level of awareness depends on arousal that in turn is controlled by novel or emotionally charged stimuli as well as by a circadian clock. Arousal is also modulated during cognitive tasks to control the randomness of decision processes and to select between exploration and exploitation.
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| 2. |
- Balkenius, Christian, et al.
(författare)
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Basic Visual Reflexes for a Humanoid Robot
- 2021
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Ingår i: Proceedings of the 16'th SweCog Conference. - 1653-2325. - 9789198366785 ; 2021:2, s. 19-21
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Konferensbidrag (refereegranskat)
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| 3. |
- Balkenius, Christian, et al.
(författare)
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Elements of cognition for general intelligence
- 2023
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Ingår i: Artificial General Intelligence : 16th International Conference, AGI 2023, Stockholm, Sweden, June 16–19, 2023, Proceedings - 16th International Conference, AGI 2023, Stockholm, Sweden, June 16–19, 2023, Proceedings. - 1611-3349 .- 2945-9133 .- 0302-9743 .- 2945-9141. - 9783031334689 - 9783031334696 ; 13921, s. 11-20
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Konferensbidrag (refereegranskat)abstract
- What can artificial intelligence learn from the cognitive sciences? We review some fundamental aspects of how human cognition works and relate it to different brain structures and their function. A central theme is that cognition is very different from how it is envisioned in classical artificial intelligence which offers a novel path toward intelligent systems that in many ways is both simpler and more attainable. We also argue that artificial intelligent systems takes more than a single silver bullet. It requires a large number of interacting subsystem that are coupled to both the body and to the environment. We argue for an approach to artificial general intelligence based on a faithful reproduction of known brain processes in a system-level model that incorporates a large number of components modelled after the human brain.
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| 4. |
- Balkenius, Christian, et al.
(författare)
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From focused thought to reveries : A memory system for a conscious robot
- 2018
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Ingår i: Frontiers in robotics and AI. - : Frontiers Media SA. - 2296-9144. ; 5:APR
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Tidskriftsartikel (refereegranskat)abstract
- We introduce a memory model for robots that can account for many aspects of an inner world, ranging from object permanence, episodic memory, and planning to imagination and reveries. It is modeled after neurophysiological data and includes parts of the cerebral cortex together with models of arousal systems that are relevant for consciousness. The three central components are an identification network, a localization network, and a working memory network. Attention serves as the interface between the inner and the external world. It directs the flow of information from sensory organs to memory, as well as controlling top-down influences on perception. It also compares external sensations to internal top-down expectations. The model is tested in a number of computer simulations that illustrate how it can operate as a component in various cognitive tasks including perception, the A-not-B test, delayed matching to sample, episodic recall, and vicarious trial and error.
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| 5. |
- Balkenius, Christian, et al.
(författare)
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Ikaros : A framework for controlling robots with system-level brain models
- 2020
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 17:3
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Tidskriftsartikel (refereegranskat)abstract
- Ikaros is an open framework for system-level brain modeling and real-time robot control. Version 2 of the system includes a range of computational components that implements various algorithms and methods ranging from models of neural circuits to control systems and hardware interfaces for robot. Ikaros supports the design and implementation of large-scale computation models using a flow programming paradigm. Version 2 includes a number of new features that support complex networks of hierarchically arranged components as well as a web-based interactive editor. More than 100 persons have contributed to the code base and over 100 scientific publications report on work that has used Ikaros for simulations or robot control.
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| 6. |
- Balkenius, Christian, et al.
(författare)
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The Missing Link Between Memory and Reinforcement Learning
- 2020
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Ingår i: Frontiers in Psychology. - : Frontiers Media SA. - 1664-1078. ; 11
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Tidskriftsartikel (refereegranskat)abstract
- Reinforcement learning systems usually assume that a value function is defined over all states (or state-action pairs) that can immediately give the value of a particular state or action. These values are used by a selection mechanism to decide which action to take. In contrast, when humans and animals make decisions, they collect evidence for different alternatives over time and take action only when sufficient evidence has been accumulated. We have previously developed a model of memory processing that includes semantic, episodic and working memory in a comprehensive architecture. Here, we describe how this memory mechanism can support decision making when the alternatives cannot be evaluated based on immediate sensory information alone. Instead we first imagine, and then evaluate a possible future that will result from choosing one of the alternatives. Here we present an extended model that can be used as a model for decision making that depends on accumulating evidence over time, whether that information comes from the sequential attention to different sensory properties or from internal simulation of the consequences of making a particular choice. We show how the new model explains both simple immediate choices, choices that depend on multiple sensory factors and complicated selections between alternatives that require forward looking simulations based on episodic and semantic memory structures. In this framework, vicarious trial and error is explained as an internal simulation that accumulates evidence for a particular choice. We argue that a system like this forms the “missing link” between more traditional ideas of semantic and episodic memory, and the associative nature of reinforcement learning.
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| 7. |
- Ingvarsdóttir, Kristín Ósk, et al.
(författare)
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A System-Level Brain Model for Enactive Haptic Perception in a Humanoid Robot
- 2023
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Ingår i: Artificial Neural Networks and Machine Learning – ICANN 2023. - 0302-9743 .- 1611-3349. - 9783031442070 - 9783031442063 ; 14254, s. 432-443
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Konferensbidrag (refereegranskat)abstract
- Perception is not a passive process but the result of an interaction between an organism and the environment. This is especially clear in haptic perception that depends entirely on tactile exploration of an object. We investigate this idea in a system-level brain model of somatosensory and motor cortex and show how it can use signals from a humanoid robot to categorize different object. The model suggests a number of critical properties that the sensorimotor system must have to support this form of enactive perception. Furthermore, we show that motor feedback during controlled movements is sufficient for haptic object categorization.
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| 8. |
- Johansson, Birger, et al.
(författare)
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Epi : An open humanoid platform for developmental robotics
- 2020
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Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 17:2
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Tidskriftsartikel (refereegranskat)abstract
- Epi is a humanoid robot developed by Lund University Cognitive Science Robotics Group. It was designed to be used in experiments in developmental robotics and has proportions to give a childlike impression while still being decidedly robotic. The robot head has two degrees of freedom in the neck and each eye can independently move laterally. There is a camera in each eye to make stereovision possible. The arms are designed to resemble those of a human. Each arm has five degrees of freedom, three in the shoulder, one in the elbow and one in the wrist. The hands have four movable fingers and a stationary thumb. A force distribution mechanism inside the hand connect a single servo to the movable fingers and makes sure the hand closes around an object regardless of its shape. The rigid parts of the hands are 3D printed in PLA and HIPS while the flexible parts, including the joints and the tendons, are made from polyurethane rubber. The control system for Epi is based on neurophysiological data and is implemented using the Ikaros system. Most of the sensory and motor processing is done at 40 Hz to allow smooth movements. The irises of the eyes can change colour and the pupils can dilate and contract. There is also a grid of LEDs that resembles a mouth that can be animated by changing colour and intensity.
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| 9. |
- Olsson, Erik J, et al.
(författare)
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The Cognitive Basis of the Conditional Probability Solution to the Value Problem for Reliabilism
- 2023
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Ingår i: Acta Analytica. - : Springer Science and Business Media LLC. - 0353-5150 .- 1874-6349. ; 38, s. 417-438
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Tidskriftsartikel (refereegranskat)abstract
- The value problem for knowledge is the problem of explaining why knowledge is more valuable than mere true belief. The problem arises for reliabilism in particular, i.e., the externalist view that knowledge amounts to reliably acquired true belief. Goldman and Olsson argue that knowledge, in this sense, is more valuable than mere true belief due to the higher likelihood of future true beliefs (produced by the same reliable process) in the case of knowledge. They maintain that their solution works given four empirical assumptions, which they claim hold “normally.” However, they do not show that their assumptions are externalistically acceptable; nor do they provide detailed evidence for their normality claim. We address these remaining gaps in Goldman and Olsson’s solution in a constructive spirit. In particular, we suggest an externalist interpretation of the assumptions such that they essentially spell out what it means for a broad range of organisms capable of belief-like representations to be epistemically adapted to their environment. Our investigation also sheds light on the circumstances in which the assumptions fail to hold and knowledge therefore fails to have extra value in Goldman and Olsson’s sense. The upshot is a deeper understanding of their solution as a contribution to naturalized epistemology and a strengthened case for its empirical validity.
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| 10. |
- Stedtler, Samantha, et al.
(författare)
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Is there Really an Effect of Time Delays on Perceived Fluency and Social attributes between Humans and Social Robots? A Pilot Study
- 2024
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Ingår i: HRI '24 : Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction - Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction. - 9798400703232 ; , s. 1013-1017
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Konferensbidrag (refereegranskat)abstract
- Humans are expert percievers of behavioural properties, including the timing of movements. Even short hesitancies and delays can be salient depending on the context. This article presents results from a pilot study on time delays in a human-robot interaction setting using the Wizard of Oz paradigm. Participants (n=17) played Tic-Tac-Toe with the humanoid robot Epi. They were randomized into one of three groups, where Epi either executed its movements with no delay, a short delay (4s) or a long delay (10s). Results from questionnaires measuring fluency, trust, anthropomorphism, animacy and likability were compared before and after the interaction and between the different groups. Although there was evidence of decreased perceived fluency after delays, the difference between the groups did not meet the threshold for statistical significance. The latter is true for our other measures used. We conclude that better statistical power is needed to be sure whether there is indeed an effect of time delays on robot-related attribution of social features. Suggestions are made in regards to how the study design could become more robust for a future, more large-scale study. In addition, we propose using measures that better account for the participants' embodied experiences by taking emotional and bodily states into consideration for future studies.
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