A Biologically Inspired Adaptive Working Memory System for Efficient Robot Control and Learning
An NSF
ITR project
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In the mammalian brain, the tension between the desire
for flexibility and the need for efficiency is thought to be largely addressed
by the interaction between working memory and executive control faculties in
the prefrontal cortex (PFC) and systems supporting relatively automatic forms
of behavior in more posterior areas. The efficient reactive processes of
posterior brain areas typically drive behavior in common situations, and they
are modulated by frontal systems when special circumstances arise. The frontal
cortex is well equipped to maintain task-relevant information in a kind of
working memory, and it is well positioned to guide action selection when
flexibility is needed. Inspired by the utility of PFC in biological systems, we
are implementing an adaptive working memory system for efficient robot control
and learning based on computational neuro-science models, and we will assess
the contribution of such a system to the successful performance of robot
navigation and object manipulation tasks in dynamically changing environments.
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University of
Missouri-Columbia
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Investigators:
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Mitch
Wilkes
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Marge Skubic
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David Noelle
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Jim Keller
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Kaz Kawamura
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Students:
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Joshua Phillips
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Sam Blisard
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Albert Spratley
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Bob Luke
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Palis Ratanaswasd
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Charlie Huggard
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Will Dodd
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Erik Stone
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Julia High
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Mert Tugcu
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PROJECT PUBLICATIONS
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S. Blisard and M. Skubic, “Modeling
Spatial Referencing Language for Human-Robot Interaction,” in Proc. of the IEEE Intl. Workshop on Robot
and Human Interactive Communication (RO-MAN), Nashville, TN, Aug., 2005
(Best student paper award). Paper
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R.H. Luke, S. Blisard, J. Keller and M. Skubic,
“Linguistic Descriptions of Three Dimensional Scenes Using SIFT
Keypoints,” in Proc. of the IEEE
Intl. Workshop on Robot and Human Interactive Communication (RO-MAN),
Nashville, TN, Aug., 2005. Paper
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J. Phillips and D. Noelle, “A Biologically
Inspired Working Memory Framework for Robots,” in Proc. of the IEEE Intl. Workshop on Robot
and Human Interactive Communication (RO-MAN), Nashville, TN, Aug., 2005.
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K. Kawamura, "Cognitive Approach to a
Human Adaptive Robot Development", in Proc. of the IEEE Intl. Workshop on Robot and Human Interactive
Communication (RO-MAN), Nashville, TN, Aug., 2005. Paper
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M. Wilkes, M. Tugcu, J. Hunter, and D.
Noelle, "Working Memory and Perception", in Proc. of the IEEE Intl. Workshop on Robot
and Human Interactive Communication (RO-MAN), Nashville, TN, Aug., 2005.
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W. Dodd and R. Gutierrez, "The Role of
Episodic Memory and Emotion in a Cognitive Robot", in Proc. of the IEEE Intl. Workshop on Robot
and Human Interactive Communication (RO-MAN), Nashville, TN, Aug., 2005.
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P. Ratanaswasd, S. Gordon and W. Dodd,
"Cognitive Control for Robot Task Execution", in Proc. of the IEEE Intl. Workshop on Robot
and Human Interactive Communication (RO-MAN), Nashville, TN, Aug., 2005.
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R.H. Luke, J.M. Keller, M. Skubic and S. Senger,
“Acquiring and Maintaining Abstract Landmark Chunks for Cognitive Robot
Navigation,” in Proc. of the IEEE Intl. Conf. on Robots and
Intelligent Systems (IROS),
Edmonton, Alberta, Canada, Aug., 2005. Paper
· J.L. Phillips and D.C. Noelle, “A Biologically Inspired Working Memory Framework for Robots,” in Proc. of the 27th Annual Meeting of the Cognitive Science Society, Stresa, Italy, July 2005. Paper Poster
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P. Ratanaswasd, W. Dodd, K. Kawamura, and D.
Noelle, "Modular behavior control for a cognitive robot," Proc. of the 12th Int'l Conf. on Advanced
Robotics (ICAR), Seattle WA,
July, 2005. Paper
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K. Kawamura, W. Dodd, P. Ratanaswasd, and
R.A. Gutierrez, "Development of a Robot with a Sense of Self", Proc. of the 6th
IEEE Intl. Symp. on Computational Intelligence in Robotics and Automation
(CIRA), Espoo, Finland, June, 2005.
Paper
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M. Skubic, “Qualitative Spatial
Referencing for Natural Human-Robot Interfaces,” invited paper for Interactions, special issue on
Human-Robot Interaction, vol. 12, issue 2, March-April, 2005, pp. 27-30.
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Blisard, S., "Modeling Spatial References
for Unoccupied Spaces for Human-Robot Interaction", M.S. thesis, Computer
Science Dept., University of Missouri-Columbia, 2004.
· M. Skubic, D. Noelle, M. Wilkes, K. Kawamura, J. Keller, “A Biologically Inspired Adaptive Working Memory for Robots,” AAAI 2004 Fall Symposium, Workshop on The Intersection of Cognitive Science and Robotics: From Interfaces to Intelligence, Washington, D.C., Oct. 21-24, 2004. Abstract Paper
Project mailing list: robot-pfc@elijah.vuse.vanderbilt.edu (subscribers only)
Project Resources:
http://www.vuse.vanderbilt.edu/~noelledc/resources/RobotPFC/
Funded by the
NSF (EIA-0325641)