40 years of cognitive architectures: core cognitive abilities and practical applications

The emergence of enhanced intelligence in a brain-inspired cognitive architecture

The Causal Cognitive Architecture is a brain-inspired cognitive architecture developed from the hypothesis that the navigation circuits in the ancestors of mammals duplicated to eventually form the neocortex. Thus, millions of neocortical minicolumns are functionally modeled in the architecture as millions of "navigation maps." An investigation of a cognitive architecture based on these navigation maps has previously shown that modest changes in the architecture allow the ready emergence of human cognitive abilities such as grounded, full causal decision-making, full analogical reasoning, and near-full compositional language abilities. In this study, additional biologically plausible modest changes to the architecture are considered and show the emergence of super-human planning abilities. The architecture should be considered as a viable alternative pathway toward the development of more advanced artificial intelligence, as well as to give insight into the emergence of natural human intelligence.

Tracking the Cognitive Band in an Open-Ended Task

Open-ended tasks can be decomposed into the three levels of Newell's Cognitive Band: the Unit-Task level, the Operation level, and the Deliberate-Act level. We analyzed the video game Co-op Space Fortress at these levels, reporting both the match of a cognitive model to subject behavior and the use of electroencephalogram (EEG) to track subject cognition. The Unit Task level in this game involves coordinating with a partner to kill a fortress. At this highest level of the Cognitive Band, there is a good match between subject behavior and the model. The EEG signals were also strong enough to track when Unit Tasks succeeded or failed. The intermediate Operation level in this task involves legs of flight to achieve a kill. The EEG signals associated with these operations are much weaker than the signals associated with the Unit Tasks. Still, it was possible to reconstruct subject play with much better than chance success. There were significant differences in the leg behavior of subjects and models. Model behavior did not provide a good basis for interpreting a subject's behavior at this level. At the lowest Deliberate-Act level, we observed overlapping key actions, which the model did not display. Such overlapping key actions also frustrated efforts to identify EEG signals of motor actions. We conclude that the Unit-task level is the appropriate level both for understanding open-ended tasks and for using EEG to track the performance of open-ended tasks.

Modelling attention allocation and takeover performance in two-stage takeover system via a cognitive computational model: considering the role of multiple monitoring requests

Studies have demonstrated two-stage takeover systems' feasibility and advantages. However, existing cognitive models mainly focus on simulating drivers' performance in single-stage takeover systems, with limited insights into cognitive modelling of effects of monitoring requests (MRs) within two-stage takeover systems. This study constructed a cognitive computational model for two-stage takeover systems based on queueing network-adaptive control of thought rational (QN-ACTR) architecture. Our model aims to capture variations in drivers' attention allocation and takeover performance resulting from different MR experiences. Five components, representing distinct cognitive processes, were designed to closely align with drivers' behavioural patterns. This model was validated through an experiment using metrics such as percentage time in road-centre and takeover time. Results revealed significant concordance between the model predictions and experimental data, with R-squared ≥ 0.76, RMSE ≤ 0.41, and MAPE ≤ 15%. The findings of this work extended beyond the two-stage takeover system investigation to include human factor modelling.

Artificial cognition vs. artificial intelligence for next-generation autonomous robotic agents

The trend in industrial/service robotics is to develop robots that can cooperate with people, interacting with them in an autonomous, safe and purposive way. These are the fundamental elements characterizing the fourth and the fifth industrial revolutions (4IR, 5IR): the crucial innovation is the adoption of intelligent technologies that can allow the development of cyber-physical systems, similar if not superior to humans. The common wisdom is that intelligence might be provided by AI (Artificial Intelligence), a claim that is supported more by media coverage and commercial interests than by solid scientific evidence. AI is currently conceived in a quite broad sense, encompassing LLMs and a lot of other things, without any unifying principle, but self-motivating for the success in various areas. The current view of AI robotics mostly follows a purely disembodied approach that is consistent with the old-fashioned, Cartesian mind-body dualism, reflected in the software-hardware distinction inherent to the von Neumann computing architecture. The working hypothesis of this position paper is that the road to the next generation of autonomous robotic agents with cognitive capabilities requires a fully brain-inspired, embodied cognitive approach that avoids the trap of mind-body dualism and aims at the full integration of Bodyware and Cogniware. We name this approach Artificial Cognition (ACo) and ground it in Cognitive Neuroscience. It is specifically focused on proactive knowledge acquisition based on bidirectional human-robot interaction: the practical advantage is to enhance generalization and explainability. Moreover, we believe that a brain-inspired network of interactions is necessary for allowing humans to cooperate with artificial cognitive agents, building a growing level of personal trust and reciprocal accountability: this is clearly missing, although actively sought, in current AI. The ACo approach is a work in progress that can take advantage of a number of research threads, some of them antecedent the early attempts to define AI concepts and methods. In the rest of the paper we will consider some of the building blocks that need to be re-visited in a unitary framework: the principles of developmental robotics, the methods of action representation with prospection capabilities, and the crucial role of social interaction.

Reliance on Episodic vs. Procedural Systems in Decision-Making Depends on Individual Differences in Their Relative Neural Efficiency

Experiential decision-making can be explained as a result of either memory-based or reinforcement-based processes. Here, for the first time, we show that individual preferences between a memory-based and a reinforcement-based strategy, even when the two are functionally equivalent in terms of expected payoff, are adaptively shaped by individual differences in resting-state brain connectivity between the corresponding brain regions. Using computational cognitive models to identify which mechanism was most likely used by each participant, we found that individuals with comparatively stronger connectivity between memory regions prefer a memory-based strategy, while individuals with comparatively stronger connectivity between sensorimotor and habit-formation regions preferentially rely on a reinforcement-based strategy. These results suggest that human decision-making is adaptive and sensitive to the neural costs associated with different strategies.

A Mind-inspired Architecture for Adaptive HRI

One of the main challenges of social robots concerns the ability to guarantee robust, contextualized and intelligent behavior capable of supporting continuous and personalized interaction with different users over time. This implies that robot behaviors should consider the specificity of a person (e.g., personality, preferences, assistive needs), the social context as well as the dynamics of the interaction. Ideally, robots should have a "mind" to properly interact in real social environments allowing them to continuously adapt and exhibit engaging behaviors. The authors' long-term research goal is to create an advanced mind-inspired system capable of supporting multiple assistance scenarios fostering personalization of robot's behavior. This article introduces the idea of a dual process-inspired cognitive architecture that integrates two reasoning layers working on different time scales and making decisions over different temporal horizons. The general goal is also to support an empathetic relationship with the user through a multi-modal interaction inclusive of verbal and non-verbal expressions based on the emotional-cognitive profile of the person. The architecture is exemplified on a cognitive stimulation domain where some experiments show personalization capabilities of the approach as well as the joint work of the two layers. In particular, a feasibility assessment shows the customization of robot behaviors and the adaptation of robot interactions to the online detected state of a user. Usability sessions were performed in laboratory settings involving 10 healthy participants to assess the user interaction and the robot's dialogue performance.

User Profiling to Enhance Clinical Assessment and Human-Robot Interaction: A Feasibility Study

Socially Assistive Robots (SARs) are designed to support us in our daily life as a companion, and assistance but also to support the caregivers' work. SARs should show personalized and human-like behavior to improve their acceptance and, consequently, their use. Additionally, they should be trustworthy by caregivers and professionals to be used as support for their work (e.g. objective assessment, decision support tools). In this context the aim of the paper is dual. Firstly, this paper aims to present and discuss the robot behavioral model based on sensing, perception, decision support, and interaction modules. The novel idea behind the proposed model is to extract and use the same multimodal features set for two purposes: (i) to profile the user, so to be used by the caregiver as a decision support tool for the assessment and monitoring of the patient; (ii) to fine-tune the human-robot interaction if they can be correlated to the social cues. Secondly, this paper aims to test in a real environment the proposed model using a SAR robot, namely ASTRO. Particularly, it measures the body posture, the gait cycle, and the handgrip strength during the walking support task. Those collected data were analyzed to assess the clinical profile and to fine-tune the physical interaction. Ten older people (65.2 ± 15.6 years) were enrolled for this study and were asked to walk with ASTRO at their normal speed for 10 m. The obtained results underline a good estimation (p < 0.05) of gait parameters, handgrip strength, and angular excursion of the torso with respect to most used instruments. Additionally, the sensory outputs were combined in the perceptual model to profile the user using non-classical and unsupervised techniques for dimensionality reduction namely T-distributed Stochastic Neighbor Embedding (t-SNE) and non-classic multidimensional scaling (nMDS). Indeed, these methods can group the participants according to their residual walking abilities.

A cognitive modeling approach to learning and using reference biases in language

During real-time language processing, people rely on linguistic and non-linguistic biases to anticipate upcoming linguistic input. One of these linguistic biases is known as the implicit causality bias, wherein language users anticipate that certain entities will be rementioned in the discourse based on the entity's particular role in an expressed causal event. For example, when language users encounter a sentence like “Elizabeth congratulated Tina…” during real-time language processing, they seemingly anticipate that the discourse will continue about Tina, the object referent, rather than Elizabeth, the subject referent. However, it is often unclear how these reference biases are acquired and how exactly they get used during real-time language processing. In order to investigate these questions, we developed a reference learning model within the PRIMs cognitive architecture that simulated the process of predicting upcoming discourse referents and their linguistic forms. Crucially, across the linguistic input the model was presented with, there were asymmetries with respect to how the discourse continued. By utilizing the learning mechanisms of the PRIMs architecture, the model was able to optimize its predictions, ultimately leading to biased model behavior. More specifically, following subject-biased implicit causality verbs the model was more likely to predict that the discourse would continue about the subject referent, whereas following object-biased implicit causality verbs the model was more likely to predict that the discourse would continue about the object referent. In a similar fashion, the model was more likely to predict that subject referent continuations would be in the form of a pronoun, whereas object referent continuations would be in the form of a proper name. These learned biases were also shown to generalize to novel contexts in which either the verb or the subject and object referents were new. The results of the present study demonstrate that seemingly complex linguistic behavior can be explained by cognitively plausible domain-general learning mechanisms. This study has implications for psycholinguistic accounts of predictive language processing and language learning, as well as for theories of implicit causality and reference processing.

Behaviour of True Artificial Peers

Typical current assistance systems often take the form of optimised user interfaces between the user interest and the capabilities of the system. In contrast, a peer-like system should be capable of independent decision-making capabilities, which in turn require an understanding and knowledge of the current situation for performing a sensible decision-making process. We present a method for a system capable of interacting with their user to optimise their information-gathering task, while at the same time ensuring the necessary satisfaction with the system, so that the user may not be discouraged from further interaction. Based on this collected information, the system may then create and employ a specifically adapted rule-set base which is much closer to an intelligent companion than a typical technical user interface. A further aspect is the perception of the system as a trustworthy and understandable partner, allowing an empathetic understanding between the user and the system, leading to a closer integrated smart environment.

When We Study the Ability to Attend, What Exactly Are We Trying to Understand?

When we study the human ability to attend, what exactly do we seek to understand? It is not clear what the answer might be to this question. There is still so much to know, while acknowledging the tremendous progress of past decades of research. It is as if each new study adds a tile to the mosaic that, when viewed from a distance, we hope will reveal the big picture of attention. However, there is no map as to how each tile might be placed nor any guide as to what the overall picture might be. It is like digging up bits of mosaic tile at an ancient archeological site with no key as to where to look and then not only having to decide which picture it belongs to but also where exactly in that puzzle it should be placed. I argue that, although the unearthing of puzzle pieces is very important, so is their placement, but this seems much less emphasized. We have mostly unearthed a treasure trove of puzzle pieces but they are all waiting for cleaning and reassembly. It is an activity that is scientifically far riskier, but with great risk comes a greater reward. Here, I will look into two areas of broad agreement, specifically regarding visual attention, and dig deeper into their more nuanced meanings, in the hope of sketching a starting point for the guide to the attention mosaic. The goal is to situate visual attention as a purely computational problem and not as a data explanation task; it may become easier to place the puzzle pieces once you understand why they exist in the first place.

Personalizing Care Through Robotic Assistance and Clinical Supervision

By 2030, the World Health Organization (WHO) foresees a worldwide workforce shortfall of healthcare professionals, with dramatic consequences for patients, economies, and communities. Research in assistive robotics has experienced an increasing attention during the last decade demonstrating its utility in the realization of intelligent robotic solutions for healthcare and social assistance, also to compensate for such workforce shortages. Nevertheless, a challenge for effective assistive robots is dealing with a high variety of situations and contextualizing their interactions according to living contexts and habits (or preferences) of assisted people. This study presents a novel cognitive system for assistive robots that rely on artificial intelligence (AI) representation and reasoning features/services to support decision-making processes of healthcare assistants. We proposed an original integration of AI-based features, that is, knowledge representation and reasoning and automated planning to 1) define a human-in-the-loop continuous assistance procedure that helps clinicians in evaluating and managing patients and; 2) to dynamically adapt robot behaviors to the specific needs and interaction abilities of patients. The system is deployed in a realistic assistive scenario to demonstrate its feasibility to support a clinician taking care of several patients with different conditions and needs.

Toward an idiomatic framework for cognitive robotics

Inspired by the “cognitive hourglass” model presented by the researchers behind the cognitive architecture called Sigma, we propose a framework for developing cognitive architectures for cognitive robotics. The main purpose of the proposed framework is to ease development of cognitive architectures by encouraging cooperation and re-use of existing results. This is done by proposing a framework dividing development of cognitive architectures into a series of layers that can be considered partly in isolation, some of which directly relate to other research fields. Finally, we introduce and review some topics essential for the proposed framework. We also outline a set of applications.

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The proposed framework divides development of cognitive architectures into layers

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The framework spans the best-known approaches employed within cognitive robotics

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The framework is centered around modern probabilistic programming techniques

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Two applications demonstrate the concepts of the framework

For many decades, robots have been expected to transfigure the world we live in, and in many ways they already have, by increasingly taking over dull, dirty, and dangerous jobs. However, for robots to integrate fully and seamlessly into human societies, robots need to be able to learn and reason from experience and effectively deal with unpredictable and dynamic environments. Developing robotic systems with such intelligence is a tremendous and difficult task, which has led to the foundation of the new multi-disciplinary scientific field called cognitive robotics, merging research in adaptive robotics, cognitive science, and artificial intelligence. To ease merging research from these scientific fields, we propose a general framework for developing intelligent robotic systems based on recent advancements in the machine learning community. We hope that this framework will aid researchers and practitioners in bringing even more helpful robots into our societies.

Design of an Incremental Music Teaching and Assisted Therapy System Based on Artificial Intelligence Attention Mechanism

With the continuous updating and advancement of artificial intelligence technology, it gradually begins to shine in various industries, especially playing an increasingly important role in incremental music teaching and assisted therapy systems. This study designs artificial intelligence models from the perspectives of attention mechanism, contextual information guidance, and distant dependencies combined with incremental music teaching for the segmentation of MS (multiple sclerosis) lesions and achieves the automatic and accurate segmentation of MS lesions through the multidimensional analysis of multimodal magnetic resonance imaging data, which provides a basis for physicians to quantitatively analyze MS lesions, thus assisting them in the diagnosis and treatment of MS. To address the highly variable characteristics of MS lesion location, size, number, and shape, this paper firstly designs a 3D context-guided module based on Kronecker convolution to integrate lesion information from different fields of view, starting from lesion contextual information capture. Then, a 3D spatial attention module is introduced to enhance the representation of lesion features in MRI images. The experiments in this paper confirm that the context-guided module, cross-dimensional cross-attention module, and multidimensional feature similarity module designed for the characteristics of MS lesions are effective, and the proposed attentional context U-Net and multidimensional cross-attention U-Net have greater advantages in the objective evaluation index of lesion segmentation, while being combined with the incremental music teaching approach to assist treatment, which provides a new idea for the intelligent assisted treatment approach. In this paper, from algorithm design to experimental validation, both in terms of accuracy, the operational difficulty of the experiment, consumption of arithmetic power, and time cost, the unique superiority of the artificial intelligence attention-based combined with incremental music teaching adjunctive therapy system proposed in this paper can be seen in the MS lesion segmentation task.

Cognitive architectures for artificial intelligence ethics

As artificial intelligence (AI) thrives and propagates through modern life, a key question to ask is how to include humans in future AI? Despite human involvement at every stage of the production process from conception and design through to implementation, modern AI is still often criticized for its “black box” characteristics. Sometimes, we do not know what really goes on inside or how and why certain conclusions are met. Future AI will face many dilemmas and ethical issues unforeseen by their creators beyond those commonly discussed (e.g., trolley problems and variants of it) and to which solutions cannot be hard-coded and are often still up for debate. Given the sensitivity of such social and ethical dilemmas and the implications of these for human society at large, when and if our AI make the “wrong” choice we need to understand how they got there in order to make corrections and prevent recurrences. This is particularly true in situations where human livelihoods are at stake (e.g., health, well-being, finance, law) or when major individual or household decisions are taken. Doing so requires opening up the “black box” of AI; especially as they act, interact, and adapt in a human world and how they interact with other AI in this world. In this article, we argue for the application of cognitive architectures for ethical AI. In particular, for their potential contributions to AI transparency, explainability, and accountability. We need to understand how our AI get to the solutions they do, and we should seek to do this on a deeper level in terms of the machine-equivalents of motivations, attitudes, values, and so on. The path to future AI is long and winding but it could arrive faster than we think. In order to harness the positive potential outcomes of AI for humans and society (and avoid the negatives), we need to understand AI more fully in the first place and we expect this will simultaneously contribute towards greater understanding of their human counterparts also.

Redefining culture in cultural robotics

Cultural influences are pervasive throughout human behaviour, and as human–robot interactions become more common, roboticists are increasingly focusing attention on how to build robots that are culturally competent and culturally sustainable. The current treatment of culture in robotics, however, is largely limited to the definition of culture as national culture. This is problematic for three reasons: it ignores subcultures, it loses specificity and hides the nuances in cultures, and it excludes refugees and stateless persons. We propose to shift the focus of cultural robotics to redefine culture as an emergent phenomenon. We make use of three research programmes in the social and cognitive sciences to justify this definition. Consequently, cultural behaviour cannot be explicitly programmed into a robot, rather, a robot must be designed with the capability to participate in the interactions that lead to the arising of cultural behaviour. In the final part of the paper, we explore which capacities and abilities are the most salient for a robot to do this.

Navigation Map-Based Artificial Intelligence

A biologically inspired cognitive architecture is described which uses navigation maps (i.e., spatial locations of objects) as its main data elements. The navigation maps are also used to represent higher-level concepts as well as to direct operations to perform on other navigation maps. Incoming sensory information is mapped to local sensory navigation maps which then are in turn matched with the closest multisensory maps, and then mapped onto a best-matched multisensory navigation map. Enhancements of the biologically inspired feedback pathways allow the intermediate results of operations performed on the best-matched multisensory navigation map to be fed back, temporarily stored, and re-processed in the next cognitive cycle. This allows the exploration and generation of cause-and-effect behavior. In the re-processing of these intermediate results, navigation maps can, by core analogical mechanisms, lead to other navigation maps which offer an improved solution to many routine problems the architecture is exposed to. Given that the architecture is brain-inspired, analogical processing may also form a key mechanism in the human brain, consistent with psychological evidence. Similarly, for conventional artificial intelligence systems, analogical processing as a core mechanism may possibly allow enhanced performance.

Metacognition as a Consequence of Competing Evolutionary Time Scales

Evolution is full of coevolving systems characterized by complex spatio-temporal interactions that lead to intertwined processes of adaptation. Yet, how adaptation across multiple levels of temporal scales and biological complexity is achieved remains unclear. Here, we formalize how evolutionary multi-scale processing underlying adaptation constitutes a form of metacognition flowing from definitions of metaprocessing in machine learning. We show (1) how the evolution of metacognitive systems can be expected when fitness landscapes vary on multiple time scales, and (2) how multiple time scales emerge during coevolutionary processes of sufficiently complex interactions. After defining a metaprocessor as a regulator with local memory, we prove that metacognition is more energetically efficient than purely object-level cognition when selection operates at multiple timescales in evolution. Furthermore, we show that existing modeling approaches to coadaptation and coevolution—here active inference networks, predator–prey interactions, coupled genetic algorithms, and generative adversarial networks—lead to multiple emergent timescales underlying forms of metacognition. Lastly, we show how coarse-grained structures emerge naturally in any resource-limited system, providing sufficient evidence for metacognitive systems to be a prevalent and vital component of (co-)evolution. Therefore, multi-scale processing is a necessary requirement for many evolutionary scenarios, leading to de facto metacognitive evolutionary outcomes.

A Survey of Artificial Intelligence Challenges: Analyzing the Definitions, Relationships, and Evolutions

In recent years, artificial intelligence has had a tremendous impact on every field, and several definitions of its different types have been provided. In the literature, most articles focus on the extraordinary capabilities of artificial intelligence. Recently, some challenges such as security, safety, fairness, robustness, and energy consumption have been reported during the development of intelligent systems. As the usage of intelligent systems increases, the number of new challenges increases. Obviously, during the evolution of artificial narrow intelligence to artificial super intelligence, the viewpoint on the challenges such as security will be changed. In addition, the recent development of human-level intelligence cannot appropriately happen without considering whole challenges in designing intelligent systems. Considering the mentioned situation, no study in the literature summarizes the challenges in designing artificial intelligence. In this paper, a review of the challenges is presented. Then, some important research questions about the future dynamism of challenges and their relationships are answered.

Artificial Intelligence Inheriting the Historical Crisis in Psychology: An Epistemological and Methodological Investigation of Challenges and Alternatives

By following the arguments developed by Vygotsky and employing the cultural-historical activity theory (CHAT) in addition to dialectical logic, this paper attempts to investigate the interaction between psychology and artificial intelligence (AI) to confront the epistemological and methodological challenges encountered in AI research. The paper proposes that AI is facing an epistemological and methodological crisis inherited from psychology based on dualist ontology. The roots of this crisis lie in the duality between rationalism and objectivism or in the mind-body rupture that has governed the production of scientific thought and the proliferation of approaches. In addition, by highlighting the sociohistorical conditions of AI, this paper investigates the historical characteristics of the shift of the crisis from psychology to AI. Additionally, we examine the epistemological and methodological roots of the main challenges encountered in AI research by noting that empiricism is the dominant tendency in the field. Empiricism gives rise to methodological and practical challenges, including challenges related to the emergence of meaning, abstraction, generalization, the emergence of symbols, concept formation, functional reflection of reality, and the emergence of higher psychological functions. Furthermore, through discussing attempts to formalize dialectical logic, the paper, based on contradiction formation, proposes a qualitative epistemological, methodological, and formal alternative by using a preliminary algorithmic model that grasps the formation of meaning as an essential ability for the qualitative reflection of reality and the emergence of other mental functions.

3Es for AI: Economics, Explanation, Epistemology

This article locates its roots/routes in multiple disciplinary formations and it seeks to advance critical thinking about an aspect of our contemporary socio-technical challenges by bracketing three knowledge formations—artificial intelligence (AI), economics, and epistemology—that have not often been considered together. In doing so, it responds to the growing calls for the necessity of further transdisciplinary engagements that have emanated from work in AI and also from other disciplines. The structure of the argument here is as follows. First, I begin by demonstrating how and why explanation is a problem in AI (“XAI problem”) and what directions are being taken by recent research that draws upon social sciences to address this, noting how there is a conspicuous lack of reference in this literature to economics. Second, I identify and analyze a problem of explanation that has long plagued economics too as a discipline. I show how only a few economists have ever attempted to grapple with this problem and provide their perspectives. Third, I provide an original genealogy of explanation in economics, demonstrating the changing nature of what was meant by an explanation. These systematic changes in consensual understanding of what occurs when something is said to have been “explained”, have reflected the methodological compromises that were rendered necessary to serve different epistemological tensions over time. Lastly, I identify the various relevant historical and conceptual overlaps between economics and AI. I conclude by suggesting that we must pay greater attention to the epistemologies underpinning socio-technical knowledges about the human. The problem of explanation in AI, like the problem of explanation in economics, is perhaps not only, or really, a problem of satisfactory explanation provision alone, but interwoven with questions of competing epistemological and ethical choices and related to the ways in which we choose sociotechnical arrangements and offer consent to be governed by them.

A Model-Based Approach for Common Representation and Description of Robotics Software Architectures

Unlike conventional software, robotic software suffers from a lack of methods and processes that could systematize and facilitate development. Thus, the application of software engineering techniques is at the heart of current issues in robotics. The work presented in this paper aims to facilitate the development of robotic software and to facilitate communication between experts in the field through the use of software engineering techniques and methods. It proposes RsaML (Robotic Software Architecture Modeling Language), a Domain Specific Modeling Language (DSML) dedicated to robotics, which takes into account the different categories of robotic software architectures and makes it possible to describe the latter independently from the implementation platform. The conceptual model defining the terminology and the hierarchy of concepts used for the description and representation of robotic software architectures in RsaML are presented in this article. RsaML is defined through a meta-model which represents the abstract syntax of the language. The real-time properties of robotic software architectures are identified and included in the meta-model. The use of RsaML is illustrated through several experimental scenarios of the language: the definition of a robotic system and the description of its software architecture, the verification of the semantics of a robotic software architecture, and the modeling of a robotic system whose software architecture does not belong to the usual categories. The support tool used for implementations and experimentation is Eclipse Modeling Framework (EMF). The results of experimentation showed good working of the proposed solution and made it possible to validate the main concepts of the RsaML language.

Regulating Ruminative Web Browsing Based on the Counterbalance Modeling Approach

Even though the web environment facilitates our daily life, emotional problems caused by its incompatibility with human cognition are becoming increasingly serious. To alleviate negative emotions during web use, we developed a browser extension that presents memorized product images to users in the form of web advertisements. This system utilizes the cognitive architecture Adaptive Control of Thought-Rational (ACT-R) as a model of human memory and emotion. A heart rate sensor attached to the user modulates the ACT-R model parameters, and the emotional states represented by the model are synchronized (following the chameleon effect) or counterbalanced (following the homeostasis regulation) with the physiological state of the user. An experiment demonstrates that the counterbalanced model suppresses negative ruminative web browsing. The authors claim that this approach, utilizing a cognitive model, is advantageous in terms of explainability.

Testing the skill-based approach: Consolidation strategy impacts attentional blink performance

Humans can learn simple new tasks very quickly. This ability suggests that people can reuse previously learned procedural knowledge when it applies to a new context. We have proposed a modeling approach based on this idea and used it to create a model of the attentional blink (AB). The main idea of the skill-based approach is that models are not created from scratch but, instead, built up from reusable pieces of procedural knowledge (skills). This approach not only provides an explanation for the fast learning of simple tasks but also shows much promise to improve certain aspects of cognitive modeling (e.g., robustness and generalizability). We performed two experiments, in order to collect empirical support for the model’s prediction that the AB will disappear when the two targets are consolidated as a single chunk. Firstly, we performed an unsuccessful replication of a study reporting that the AB disappears when participants are instructed to remember the targets as a syllable. However, a subsequent experiment using easily combinable stimuli supported the model’s prediction and showed a strongly reduced AB in a large group of participants. This result suggests that it is possible to avoid the AB with the right consolidation strategy. The skill-based approach allowed relating this finding to a general cognitive process, thereby demonstrating that incorporating this approach can be very helpful to generalize the findings of cognitive models, which otherwise tends to be rather difficult.

Impact of decision-making system in social navigation

Facing human activity-aware navigation with a cognitive architecture raises several difficulties integrating the components and orchestrating behaviors and skills to perform social tasks. In a real-world scenario, the navigation system should not only consider individuals like obstacles. It is necessary to offer particular and dynamic people representation to enhance the HRI experience. The robot's behaviors must be modified by humans, directly or indirectly. In this paper, we integrate our human representation framework in a cognitive architecture to allow that people who interact with the robot could modify its behavior, not only with the interaction but also with their culture or the social context. The human representation framework represents and distributes the proxemic zones' information in a standard way, through a cost map. We have evaluated the influence of the decision-making system in human-aware navigation and how a local planner may be decisive in this navigation. The material developed during this research can be found in a public repository (https://github.com/IntelligentRoboticsLabs/social_navigation2_WAF) and instructions to facilitate the reproducibility of the results.

Cognitive Modeling of Anticipation: Unsupervised Learning and Symbolic Modeling of Pilots' Mental Representations

The ability to anticipate team members' actions enables joint action towards a common goal. Task knowledge and mental simulation allow for anticipating other agents' actions and for making inferences about their underlying mental representations. In human-AI teams, providing AI agents with anticipatory mechanisms can facilitate collaboration and successful execution of joint action. This paper presents a computational cognitive model demonstrating mental simulation of operators' mental models of a situation and anticipation of their behavior. The work proposes two successive steps: (1) A hierarchical cluster algorithm is applied to recognize patterns of behavior among pilots. These behavioral clusters are used to derive commonalities in situation models from empirical data (N = 13 pilots). (2) An ACT-R (adaptive control of thought - rational) cognitive model is implemented to mentally simulate different possible outcomes of action decisions and timing of a pilot. model tracing of ACT-R allows following up on operators' individual actions. Two models are implemented using the symbolic representations of ACT-R: one simulating normative behavior and the other by simulating individual differences and using subsymbolic learning. Model performance is analyzed by a comparison of both models. Results indicate the improved performance of the individual differences over the normative model and are discussed regarding implications for cognitive assistance capable of anticipating operator behavior.

Advancing Smart Home Awareness-A Conceptual Computational Modelling Framework for the Execution of Daily Activities of People with Alzheimer's Disease

Utilizing context-aware tools in smart homes (SH) helps to incorporate higher quality interaction paradigms between the house and specific groups of users such as people with Alzheimer's disease (AD). One method of delivering these interaction paradigms acceptably and efficiently is through context processing the behavior of the residents within the SH. Predicting human behavior and uncertain events is crucial in the prevention of upcoming missteps and confusion when people with AD perform their daily activities. Modelling human behavior and mental states using cognitive architectures produces computational models capable of replicating real use case scenarios. In this way, SHs can reinforce the execution of daily activities effectively once they acquire adequate awareness about the missteps, interruptions, memory problems, and unpredictable events that can arise during the daily life of a person living with cognitive deterioration. This paper presents a conceptual computational framework for the modelling of daily living activities of people with AD and their progression through different stages of AD. Simulations and initial results demonstrate that it is feasible to effectively estimate and predict common errors and behaviors in the execution of daily activities under specific assessment tests.

A Theoretical Comprehensive Framework for the Process of Theories Formation

Scientists rely more and more upon computerized data mining and artificial intelligence to analyze data sets and identify association rules, which serve as the basis of evolving theories. This tendency is likely to expand, and computerized intelligence is likely to take a leading role in scientific theorizing. While the ever-advancing technology could be of great benefit, scientists with expertise in many research fields do not necessarily understand thoroughly enough the various assumptions, which underlie different data mining methods and which pose significant limitations on the association rules that could be identified in the first place. There seems to be a need for a comprehensive framework, which should present the various possible technological aids in the context of our neurocognitive process of theorizing and identifying association rules. Such a framework can be hopefully used to understand, identify, and overcome the limitations of the currently fragmented processes of technology-based theorizing and the formation of association rules in any research field. In order to meet this end, we divide theorizing into underlying neurocognitive components, describe their current technological expansions and limitations, and offer a possible comprehensive computational framework for each such component and their combination.

10 Years of Human-NAO Interaction Research: A Scoping Review

The evolving field of human-robot interaction (HRI) necessitates that we better understand how social robots operate and interact with humans. This scoping review provides an overview of about 300 research works focusing on the use of the NAO robot from 2010 to 2020. This study presents one of the most extensive and inclusive pieces of evidence on the deployment of the humanoid NAO robot and its global reach. Unlike most reviews, we provide both qualitative and quantitative results regarding how NAO is being used and what has been achieved so far. We analyzed a wide range of theoretical, empirical, and technical contributions that provide multidimensional insights, such as general trends in terms of application, the robot capabilities, its input and output modalities of communication, and the human-robot interaction experiments that featured NAO (e.g. number and roles of participants, design, and the length of interaction). Lastly, we derive from the review some research gaps in current state-of-the-art and provide suggestions for the design of the next generation of social robots.

Perceptual and Semantic Processing in Cognitive Robots

The challenge in human–robot interaction is to build an agent that can act upon human implicit statements, where the agent is instructed to execute tasks without explicit utterance. Understanding what to do under such scenarios requires the agent to have the capability to process object grounding and affordance learning from acquired knowledge. Affordance has been the driving force for agents to construct relationships between objects, their effects, and actions, whereas grounding is effective in the understanding of spatial maps of objects present in the environment. The main contribution of this paper is to propose a methodology for the extension of object affordance and grounding, the Bloom-based cognitive cycle, and the formulation of perceptual semantics for the context-based human–robot interaction. In this study, we implemented YOLOv3 to formulate visual perception and LSTM to identify the level of the cognitive cycle, as cognitive processes synchronized in the cognitive cycle. In addition, we used semantic networks and conceptual graphs as a method to represent knowledge in various dimensions related to the cognitive cycle. The visual perception showed average precision of 0.78, an average recall of 0.87, and an average F1 score of 0.80, indicating an improvement in the generation of semantic networks and conceptual graphs. The similarity index used for the lingual and visual association showed promising results and improves the overall experience of human–robot interaction.

Recovering Reliable Idiographic Biological Parameters from Noisy Behavioral Data: the Case of Basal Ganglia Indices in the Probabilistic Selection Task

Behavioral data, despite being a common index of cognitive activity, is under scrutiny for having poor reliability as a result of noise or lacking replications of reliable effects. Here, we argue that cognitive modeling can be used to enhance the test-retest reliability of the behavioral measures by recovering individual-level parameters from behavioral data. We tested this empirically with the Probabilistic Stimulus Selection (PSS) task, which is used to measure a participant’s sensitivity to positive or negative reinforcement. An analysis of 400,000 simulations from an Adaptive Control of Thought-Rational (ACT-R) model of this task showed that the poor reliability of the task is due to the instability of the end-estimates: because of the way the task works, the same participants might sometimes end up having apparently opposite scores. To recover the underlying interpretable parameters and enhance reliability, we used a Bayesian Maximum A Posteriori (MAP) procedure. We were able to obtain reliable parameters across sessions (intraclass correlation coefficient ≈ 0.5). A follow-up study on a modified version of the task also found the same pattern of results, with very poor test-retest reliability in behavior but moderate reliability in recovered parameters (intraclass correlation coefficient ≈ 0.4). Collectively, these results imply that this approach can further be used to provide superior measures in terms of reliability, and bring greater insights into individual differences.

Action Selection and Execution in Everyday Activities: A Cognitive Robotics and Situation Model Perspective

We examine the mechanisms required to handle everyday activities from the standpoint of cognitive robotics, distinguishing activities on the basis of complexity and transparency. Task complexity (simple or complex) reflects the intrinsic nature of a task, while task transparency (easy or difficult) reflects an agent's ability to identify a solution strategy in a given task. We show how the CRAM cognitive architecture allows a robot to carry out simple and complex activities such as laying a table for a meal and loading a dishwasher afterward. It achieves this by using generalized action plans that exploit reasoning with modular, composable knowledge chunks representing general knowledge to transform underdetermined everyday action requests into motion plans that successfully accomplish the required task. Noting that CRAM does not yet have the ability to deal with difficult activities, we leverage insights from the situation model perspective on the cognitive mechanisms underlying flexible context-sensitive behavior with a view to extending CRAM to overcome this deficit.

Machines Like Us and People Like You: Toward Human-Robot Shared Experience

In the past years, the field of collaborative robots has been developing fast, with applications ranging from health care to search and rescue, construction, entertainment, sports, and many others. However, current social robotics is still far from the general abilities we expect in a robot collaborator. This limitation is more evident when robots are faced with real-life contexts and activities occurring over long periods. In this article, we argue that human-robot collaboration is more than just being able to work side by side on complementary tasks: collaboration is a complex relational process that entails mutual understanding and reciprocal adaptation. Drawing on this assumption, we propose to shift the focus from "human-robot interaction" to "human-robot shared experience." We hold that for enabling the emergence of such shared experiential space between humans and robots, constructs such as coadaptation, intersubjectivity, individual differences, and identity should become the central focus of modeling. Finally, we suggest that this shift in perspective would imply changing current mainstream design approaches, which are mainly focused on functional aspects of the human-robot interaction, to the development of architectural frameworks that integrate the enabling dimensions of social cognition.

Core Cognitive Mechanisms Underlying Syntactic Priming: A Comparison of Three Alternative Models

Syntactic priming (SP) is the effect by which, in a dialogue, the current speaker tends to re-use the syntactic constructs of the previous speakers. SP has been used as a window into the nature of syntactic representations within and across languages. Because of its importance, it is crucial to understand the mechanisms behind it. Currently, two competing theories exist. According to the transient activation account, SP is driven by the re-activation of declarative memory structures that encode structures. According to the error-based implicit learning account, SP is driven by prediction errors while processing sentences. By integrating both transient activation and associative learning, Reitter et al.'s hybrid model 2011 assumes that SP is achieved by both mechanisms, and predicts a priming enhancement for rare or unusual constructions. Finally, a recently proposed account, the reinforcement learning account, claims that SP driven by the successful application of procedural knowledge will be reversed when the prime sentence includes grammatical errors. These theories make different assumptions about the representation of syntactic rules (declarative vs. procedural) and the nature of the mechanism that drives priming (frequency and repetition, attention, and feedback signals, respectively). To distinguish between these theories, they were all implemented as computational models in the ACT-R cognitive architecture, and their specific predictions were examined through grid-search computer simulations. Two experiments were then carried out to empirically test the central prediction of each theory as well as the individual fits of each participant's responses to different parameterizations of each model. The first experiment produced results that were best explained by the associative account, but could also be accounted for by a modified reinforcement model with a different parsing algorithm. The second experiment, whose stimuli were designed to avoid the parsing ambiguity of the first, produced somewhat weaker effects. Its results, however, were also best predicted by the model implementing the associative account. We conclude that the data overall points to SP being due to prediction violations that direct attentional resources, in turn suggesting a declarative rather than a RL based procedural representation of syntactic rules.

When Fear Shrinks the Brain: A Computational Model of the Effects of Posttraumatic Stress on Hippocampal Volume

Post-traumatic stress disorder (PTSD) is a psychiatric disorder often characterized by the unwanted re-experiencing of a traumatic event through nightmares, flashbacks, and/or intrusive memories. This paper presents a neurocomputational model using the ACT-R cognitive architecture that simulates intrusive memory retrieval following a potentially traumatic event (PTE) and predicts hippocampal volume changes observed in PTSD. Memory intrusions were captured in the ACT-R rational analysis framework by weighting the posterior probability of re-encoding traumatic events into memory with an emotional intensity term I to capture the degree to which an event was perceived as dangerous or traumatic. It is hypothesized that (1) increasing the intensity I of a PTE will increase the odds of memory intrusions, and (2) increased frequency of intrusions will result in a concurrent decrease in hippocampal size. A series of simulations were run and it was found that I had a significant effect on the probability of experiencing traumatic memory intrusions following a PTE. The model also found that I was a significant predictor of hippocampal volume reduction, where the mean and range of simulated volume loss match results of existing meta-analyses. The authors believe that this is the first model to both describe traumatic memory retrieval and provide a mechanistic account of changes in hippocampal volume, capturing one plausible link between PTSD and hippocampal volume.

Apophatic science: how computational modeling can explain consciousness

This study introduces a novel methodology for consciousness science. Consciousness as we understand it pretheoretically is inherently subjective, yet the data available to science are irreducibly intersubjective. This poses a unique challenge for attempts to investigate consciousness empirically. We meet this challenge by combining two insights. First, we emphasize the role that computational models play in integrating results relevant to consciousness from across the cognitive sciences. This move echoes Alan Newell’s call that the language and concepts of computer science serve as a lingua franca for integrative cognitive science. Second, our central contribution is a new method for validating computational models that treats them as providing negative data on consciousness: data about what consciousness is not. This method is designed to support a quantitative science of consciousness while avoiding metaphysical commitments. We discuss how this methodology applies to current and future research and address questions that others have raised.

Deep learning and the Global Workspace Theory

Recent advances in deep learning have allowed artificial intelligence (AI) to reach near human-level performance in many sensory, perceptual, linguistic, and cognitive tasks. There is a growing need, however, for novel, brain-inspired cognitive architectures. The Global Workspace Theory (GWT) refers to a large-scale system integrating and distributing information among networks of specialized modules to create higher-level forms of cognition and awareness. We argue that the time is ripe to consider explicit implementations of this theory using deep-learning techniques. We propose a roadmap based on unsupervised neural translation between multiple latent spaces (neural networks trained for distinct tasks, on distinct sensory inputs and/or modalities) to create a unique, amodal Global Latent Workspace (GLW). Potential functional advantages of GLW are reviewed, along with neuroscientific implications.

Activity, Plan, and Goal Recognition: A Review

Recognizing the actions, plans, and goals of a person in an unconstrained environment is a key feature that future robotic systems will need in order to achieve a natural human-machine interaction. Indeed, we humans are constantly understanding and predicting the actions and goals of others, which allows us to interact in intuitive and safe ways. While action and plan recognition are tasks that humans perform naturally and with little effort, they are still an unresolved problem from the point of view of artificial intelligence. The immense variety of possible actions and plans that may be encountered in an unconstrained environment makes current approaches be far from human-like performance. In addition, while very different types of algorithms have been proposed to tackle the problem of activity, plan, and goal (intention) recognition, these tend to focus in only one part of the problem (e.g., action recognition), and techniques that address the problem as a whole have been not so thoroughly explored. This review is meant to provide a general view of the problem of activity, plan, and goal recognition as a whole. It presents a description of the problem, both from the human perspective and from the computational perspective, and proposes a classification of the main types of approaches that have been proposed to address it (logic-based, classical machine learning, deep learning, and brain-inspired), together with a description and comparison of the classes. This general view of the problem can help on the identification of research gaps, and may also provide inspiration for the development of new approaches that address the problem in a unified way.