Chapter 9. PlayMate System (1/2) in Cognitive Systems, Henrik Iskov Chritensen et al. Course: Robots Learning from Humans Kwak, Hanock Biointelligence Laboratory School of Computer Science and Engineering Seoul National University http://bi.snu.ac.kr
Chapter 9. PlayMate System (1/2) in Cognitive Systems, Henrik Iskov Chritensen et al. Course: Robots Learning from Humans Kwak, Hanock Biointelligence.
Jan 18, 2016
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Chapter 9. PlayMate System (1/2)in Cognitive Systems, Henrik Iskov Chritensen et al.
Course: Robots Learning from Humans
Kwak, Hanock
Biointelligence Laboratory
School of Computer Science and Engineering
Seoul National University
http://bi.snu.ac.kr
2
Contents
Introduction Scenario
System Overview Vision SA Spatial SA Communication SA Binding SA
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 3
Introduction
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 4
Scenario
Man: This is a blue square Robot: Ok
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 5
Scenario
Man: This is a red square Robot: Ok
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 6
Scenario
Man: (Replace the red square with red triangle) Robot: What is the thing to the right of the blue
square. Man: It is a red triangle.
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 7
System Overview
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 8
System Overview
Subarchitectures (SAs) Visual processing (Vision SA) Speech recognition & generator (ComSys SA) Spatial representation and reasoning (Spatial SA) Manipulation (Manipulation SA) Binding of information between modalities (Binding SA) Control of motivation and planning (Motivation and Plan-
ning SA)
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 9
Vision SA
Change detector determines whether the scene is, or has stopped changing
Regions of interest (ROIs) in the scene are seg-mented
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 10
Working memory
Vision SA
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Spatial SA
Captures both metric and qualitative representa-tions
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr
What is the thing to the right of the blue square
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 12
Spatial SA
Working memory
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Communication SA
Captures both the indexical and intentional con-tents of an utterance
Working memory
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 14
Binding SA
Finds cross-modal relations
This is a blue square.
© 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 15
Integration of SAs
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