Introduction to Cognitive Robotics Module 1: Overview of Cognitive Robotics Lecture 1: Component disciplines; the nature of cognition; definition of cognitive robotics www.cognitiverobotics.net Overview of Cognitive Robotics 1 1 Introduction to Cognitive Robotics Robotics Intelligent Robotics or AI Robotics (Murphy, 2017) Artificial Intelligence Murphy, Robin R. Introduction to AI Robotics. Cambridge, MA: MIT press, 2019. Overview of Cognitive Robotics 1 2 Introduction to Cognitive Robotics Robotics Cognitive Robotics Artificial Cognitive & Intelligence Biological Sciences Overview of Cognitive Robotics 1 3 Introduction to Cognitive Robotics Cognitive & Biological Sciences Cognitive Neuroscience Cognitive Biology Psychology Overview of Cognitive Robotics 1 4 Introduction to Cognitive Robotics A Definition of Cognitive Robotics "Cognitive Robotics is the field that combines insights and methods from robotics, AI and cognitive and biological sciences to design an integrated cognitive system combining the sensorimotor behavior and higher-level functions and social capabilities of an intelligent robot" A. Cangelosi and M. Asada, Cognitive Robotics, Chapter 1, MIT Press, in press. Overview of Cognitive Robotics 1 5 Introduction to Cognitive Robotics Cognitive Robotics Emphasizes ... Bio-inspired human-like and animal-like behaviour and intelligence System-level integration Interdisciplinary approach, of a range of cognitive abilities: including cognitive (neuro)science, • Sensorimotor skills cognitive psychology, and biology • Knowledge representation & reasoning • Social interaction Overview of Cognitive Robotics 1 6 Introduction to Cognitive Robotics Related Fields 1. Developmental robotics 2. Neurorobotics 3. Evolutionary robotics 4. Soft robotics Overview of Cognitive Robotics 1 7 Introduction to Cognitive Robotics Tortoises Shakey Vehicles Darwin Khepera CB2 iCub Octopus 1950 1966 Resources1986 1992 1999 2007 2008 2015 1950 1960 1970 1980 1990 2000 2010 2020 1998 Fall Symposium Cognitive Robotics Walter Braitemberg Di Giuseppe Pfeifer & Bongard Cangelosi & Schlesinger 1953 1986 1998 2007 2015 A. Cangelosi and M. Asada, Cognitive Robotics, Chapter 1, MIT Press, in press. Overview of Cognitive Robotics 1 8 Introduction to Cognitive Robotics What is cognition? We answer Why is cognition useful in robotics? this question first How do cognitive robots work? Overview of Cognitive Robotics 1 9 Introduction to Cognitive Robotics Why is cognition useful in robotics? 1. It allows robots to work autonomously in everyday environments 2. It enables effective interaction with humans Overview of Cognitive Robotics 1 10 Introduction to Cognitive Robotics Why is cognition useful in robotics? 1. It allows robots to work autonomously in everyday environments a) anticipating outcomes when selecting the actions it will perform b) adapting to changes and unforeseen situations Overview of Cognitive Robotics 1 11 Introduction to Cognitive Robotics Why is cognition useful in robotics? 2. It enables effective interaction with humans a) A cognitive ability can enable a robot to infer the goals and intentions of the person with whom it is interacting and thereby allows it to behave in a helpful manner. Overview of Cognitive Robotics 1 12 Introduction to Cognitive Robotics Why is cognition useful in robotics? 2. It enables effective interaction with humans a) A cognitive ability can enable a robot to infer the goals and intentions of the person with whom it is interacting and thereby allows it to behave in a helpful manner. b) Humans like to engage with other cognitive agents: if a robot has a capacity for cognition it fosters human robot interaction Overview of Cognitive Robotics 1 13 Introduction to Cognitive Robotics Why is cognition useful in robotics? • A cognitive robot is capable of flexible context-sensitive goal-directed action • The robot anticipates The robot's need to act and a human's need to act – the need to act – the outcome of the action • The action itself is guided by prospection • It can also adapt to changing circumstances – Adjusting existing action policies – Creating new action policies when required • It does this by dynamically recruiting several core cognitive abilities: perception, attention, action selection, memory, learning, reasoning, metacognition, prospection Overview of Cognitive Robotics 1 14 Introduction to Cognitive Robotics Now we answer What is cognition? this question Why is cognition useful in robotics? How do cognitive robots work? Overview of Cognitive Robotics 1 15 Introduction to Cognitive Robotics 42 definitions Overview of Cognitive Robotics 1 http://www.vernon.eu/euCognition16 /definitions.htm Introduction to Cognitive Robotics Cognition “Cognition is the process by which an Learns autonomous system Perceives perceives its environment, Anticipates learns from experience, anticipates the outcome of events, Acts acts to pursue goals, and adapts to changing circumstances.” Adapts D. Vernon, Artificial Cognitive Systems – A Primer, MIT Press, 2014 Overview of Cognitive Robotics 1 17 Introduction to Cognitive Robotics Cognition Anticipate Adapt Learn a Action Perception Autonomy D. Vernon, Artificial Cognitive Systems – A Primer, MIT Press, 2014 Overview of Cognitive Robotics 1 18 Introduction to Cognitive Robotics The Thinker Auguste Rodin One view of cognition Overview of Cognitive Robotics 1 19 Introduction to Cognitive Robotics Cognition Perception Learning Action Adaptation Autonomy Anticipation An alternative view Overview of Cognitive Robotics 1 20 Introduction to Cognitive Robotics "Cognitive vision is a lot about being able to assert that something is there, given very little visual evidence, and even perhaps despite evidence to the contrary” Aaron Bobick Overview of Cognitive Robotics 1 21 Introduction to Cognitive Robotics Core abilities of a cognitive system Perception Attention Action selection Memory Learning Reasoning Meta-reasoning Kotseruba, I. and J. Tsotsos. 40 years of cognitive architectures: core cognitive abilities and practical applications. Artificial Intelligence Review 53(1), 17 – 94, 2020. Overview of Cognitive Robotics 1 22 Introduction to Cognitive Robotics ... and prospection – the capacity to anticipate the future – is, arguably, the hallmark of cognition Overview of Cognitive Robotics 1 23 Introduction to Cognitive Robotics Prospection Anticipation Prediction Intention Planning Simulation Episodic future thinking Future oriented cognition K. K. Szpunar, R. N. Spreng, and D. L. Schacter, A taxonomy of prospection: introducing an organizational framework for future-oriented cognition, PNAS 111(52), 18414–18421, 2014. Overview of Cognitive Robotics 1 24 Introduction to Cognitive Robotics Cognition “The brain constantly attempts to anticipate future events” Schulkin J. Social allostasis: anticipatory regulation of the internal milieu. Frontiers in evolutionary neuroscience, 2, 111, 2011. Overview of Cognitive Robotics 1 25 Introduction to Cognitive Robotics Overview of Cognitive Robotics 1 26 Introduction to Cognitive Robotics The Future Cognition: breaking free of the present and the limitations of perception Overview of Cognitive Robotics 1 27 Introduction to Cognitive Robotics The Future Timescale increases through cognitive development Overview of Cognitive Robotics 1 28 Introduction to Cognitive Robotics Episodic Memory Specific instances of the agents experience The Past Past events are reconstructed ... Overview of Cognitive Robotics 1 29 Introduction to Cognitive Robotics Episodic Memory The Past The Future Past events are To allow the agent reconstructed ... to pre-experience the future Overview of Cognitive Robotics 1 30 Introduction to Cognitive Robotics Episodic Future Thinking The Past The Future Past events are To allow the agent reconstructed ... to pre-experience the future C. M. Atance and D. K. O’Neill, “Episodic future thinking,” Trends in Cognitive Sciences, vol. 5, no. 12, pp. 533–539, 2001. D. L. Schacter and D. R. Addis, “The cognitive neuroscience of constructive memory: Remembering the past and imagining the Overview of Cognitive Robotics 1future,” Philosophical Transactions of the Royal Society B, vol. 362,31 pp. 773–786, 2007. Introduction to Cognitive Robotics Episodic Semantic General knowledge about the agent's world The Future K. K. Szpunar, R. N. Spreng, and D. L. Schacter, A taxonomy of prospection: introducing an organizational framework for future-oriented cognition, PNAS 111(52), 18414–18421, 2014. Overview of Cognitive Robotics 1 32 Introduction to Cognitive Robotics Episodic Semantic Action knowledge and Procedural motor skills The Future K. K. Szpunar, R. N. Spreng, and D. L. Schacter, A taxonomy of prospection: introducing an organizational framework for future-oriented cognition, PNAS 111(52), 18414–18421, 2014. Overview of Cognitive Robotics 1 33 Introduction to Cognitive Robotics Cognitive systems continually predict The need for action (self and others) The outcome of those actions Overview of Cognitive Robotics 1 34 Introduction to Cognitive Robotics Anticipation Prospection Prediction Intention Planning Simulation Episodic future thinking Everyday activities: apparently routine but often complex and demanding Overview of Cognitive Robotics 1 35 Introduction to Cognitive Robotics Anticipation Prospection Prediction Intention Planning Simulation Episodic future thinking Anticipate the needs of others Overview of Cognitive Robotics 1 36 Introduction to Cognitive Robotics Anticipation Prospection Prediction Intention Planning Simulation