| 1. |
- Clark, Douglas S., et al.
(author)
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Klaus Mosbach Tribute
- 2015
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In: Biotechnology and Bioengineering. - : Wiley. - 1097-0290 .- 0006-3592. ; 112:4, s. 645-647
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Journal article (other academic/artistic)
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| 2. |
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| 3. |
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| 4. |
- Gander, Pierre, 1971, et al.
(author)
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A framework for memory of fictional information
- 2022
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In: Poster presented at the Psychonomic Society's 63rd Annual Meeting, Boston, Massachusetts, USA, Nov. 17–20, 2022..
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Conference paper (other academic/artistic)
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| 5. |
- Gander, Pierre, 1971, et al.
(author)
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What kind of memory is memory of fiction?
- 2022
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In: Presented at the Annual Meeting of the Swedish Cognitive Science Society.
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Conference paper (other academic/artistic)
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| 6. |
- Kiryazov, Kiril
(author)
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Grounding Emotion Appraisal in Autonomous Humanoids
- 2014
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Licentiate thesis (other academic/artistic)abstract
- The work presented in this dissertation investigates the problem for resource management of autonomous robots. Acting under the constraint of limited resources is a necessity for every robot which should perform tasks independent of human control. Some of the most important variables and performance criteria for adaptive behavior under resource constraints are discussed. Concepts like autonomy, self-sufficiency, energy dynamics, work utility, effort of action, and optimal task selection are defined and analyzed as the emphasis is on the resource balance in interaction with a human. The primary resource for every robot is its energy. In addition to the regulation of its “energy homeostasis”, a robot should perform its designer’s tasks with the required level of efficiency. A service robot residing in a human-centered environment should perform some social tasks like cleaning, helping elderly people or delivering goods. Maintaining a proper quality of work and, at the same time, not running out of energy represents a basic two-resource problem which was used as a test-bed scenario in the thesis. Safety is an important aspect of any human-robot interaction. Thus, a new three – resource problem (energy, work quality, safety) is presented and also used for the experimental investigations in the thesis.The main contribution of the thesis is developing an affective cognitive architecture. The architecture uses top-down ethological models of action selection. The action selection mechanisms are nested into a model of human affect based on appraisal theory of emotion. The arousal component of the architecture is grounded into electrical energy processes in the robotic body and is modulating the effort of movement. The provided arousal mechanism has an important functional role for the adaptability of the robot in the proposed two- and three resource scenarios. These investigations are part of a more general goal of grounding highlevel emotion substrates - Pleasure Arousal Dominance emotion space in homeostatic processes in humanoid robots. The development of the architecture took inspiration from several computation architectures of emotion in robotics, which are analyzed in the thesis.Sustainability of the basic cycles of the essential variables of a robotic system is chosen as a basic performance measure for validating the emotion components of the architecture and the grounding process. Several experiments are performed with two humanoid robots – iCub and NAO showing the role of task selection mechanism and arousal component of the architecture for the robot’s self-sufficiency and adaptability.
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| 7. |
- Kiryazov, Kiril, et al.
(author)
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Modelling Embodied Appraisal in Humanoids : Grounding PAD space for Augmented Autonomy
- 2011
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In: Proceedings of the Workshop on Standards in Emotion Modeling, 2011.
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Conference paper (other academic/artistic)abstract
- A computational emotion architecture is presented which grounds an aspect of an appraisal theoretic architecture in energy related processes. The incorporation of an energy constraint on emotional-cognitive behaviour allows greater potential for autonomous agency when implemented on a physical (NAO) robot platform. In this paper we present an algorithm that enables metabolic grounding of the arousal component of the PAD emotion space used in the architecture. We describe an exemplar problem that abstracts variables and performance criteria relevant to service robotics applications. Future work on further integration based on neurobiological grounding is discussed as well as means by which the exemplar scenario may be scaled up to more realistic service robotics based scenarios.
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| 8. |
- Li, Cai, et al.
(author)
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DMPs based CPG Actor Critic: A Method for Locomotion Learning
- 2014
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Other publication (other academic/artistic)abstract
- In this article, a dynamic motor primitives (DMPs) based CPG-Actor-Critic is proposed to enable locomotion learning on a humanoid (the NAO robot) and a puppy robot (the ghostdog robot). In order to model two types of locomotion with one architecture, a novel application of an existing method to designa CPG architecture for learning locomotion. The method is to a) have an architectural base (4-cell CPG) and, b) have a learning component which is based on an existing method for designing DMPs. Learning locomotion here concerns gait emergence in relation to the robot’s body and prior knowledge. The focus of this article will be on two types of locomotion: crawling on ahumanoid and running on a puppy robot. On the two robots with two different morphologies, our method and architecture can make the robots learn by itself. We also compare the performance with respect to two state-of-the-art reinforcement learning algorithms with provided particular instantiations of ourDMPs-based CPG-Actor-Critic architecture. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed and introduced in the conclusion.
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| 9. |
- Li, Cai, et al.
(author)
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Humanoids learning to crawl based on Natural CPG-Actor-Critic and Motor Primitives
- 2013
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In: Proceedings of IROS 2013 Workshop on Neuroscience and Robotics, Tokyo, Japan. ; , s. 7-15
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Conference paper (other academic/artistic)abstract
- In this article, a new CPG-Actor-Critic architecturebased on motor primitives is proposed to perform a crawlinglearning task on a humanoid (the NAO robot). Starting froman interdisciplinary explanation of the theories, we present twoinvestigations to test the important functions of the layeredCPG architecture: sensory feedback integration and whole-bodyposture control. Based on the analysis of the experimental results,a generic view/architecture for locomotion learning is discussedand introduced in the conclusion.
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| 10. |
- Li, Cai
(author)
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Reinforcement Learning of Locomotion based on Central Pattern Generators
- 2014
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Doctoral thesis (other academic/artistic)abstract
- Locomotion learning for robotics is an interesting and challenging area in which the movement capabilities of animals have been deeply investigated and acquired knowledge has been transferred into modelling locomotion on robots. What modellers are required to understand is what structure can represent locomotor systems in different animals and how such animals develop various and dexterous locomotion capabilities. Notwithstanding the depth of research in the area, modelling locomotion requires a deep rethinking.In this thesis, based on the umbrella of embodied cognition, a neural-body-environment interaction is emphasised and regarded as the solution to locomotion learning/development. Central pattern generators (CPGs) are introduced in the first part (Chapter 2) to generally interpret the mechanism of locomotor systems in animals. With a deep investigation on the structure of CPGs and inspiration from human infant development, a layered CPG architecture with baseline motion generation and dynamics adaptation interfaces are proposed. In the second part, reinforcement learning (RL) is elucidated as a good method for dealing with locomotion learning from the perspectives of psychology, neuroscience and robotics (Chapter 4). Several continuous-space RL techniques (e.g. episodic natural actor critic, policy learning by weighting explorations with returns, continuous action space learning automaton are introduced for practical use (Chapter 3). With the knowledge of CPGs and RL, the architecture and concept of CPG-Actor-Critic is constructed. Finally, experimental work based on published papers is highlighted in a path of my PhD research (Chapter 5). This includes the implementation of CPGs and the learning on the NAO robot for crawling and walking. The implementation is also extended to test the generalizability to different morphologies (the ghostdog robot). The contribution of this thesis is discussed from two angles: the investigation of the CPG architecture and the implementation (Chapter 6).
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