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Article published In:
Interaction Studies
Vol. 17:2 (2016) ► pp.248–278

Reasoning based on consolidated real world experience acquired by a humanoid robot

| Imperial College, London
| INSERM U846, France
| INSERM U846, France | CNRS, France
The development of reasoning systems exploiting expert knowledge from interactions with humans is a non-trivial problem, particularly when considering how the information can be coded in the knowledge representation. For example, in human development, the acquisition of knowledge at one level requires the consolidation of knowledge from lower levels. How is the accumulated experience structured to allow the individual to apply knowledge to new situations, allowing reasoning and adaptation? We investigate how this can be done automatically by an iCub that interacts with humans to acquire knowledge via demonstration. Once consolidated, this knowledge is used in further acquisitions of experience concerning preconditions and consequences of actions. Finally, this knowledge is translated into rules that allow reasoning and planning for novel problem solving, including a Tower of Hanoi scenario. We thus demonstrate proof of concept for an interaction system that uses knowledge acquired from human interactions to reason about new situations.
Keywords: humanoid robot, embodied, physical interaction, experience, reasoning, planning, autobiographical memory, learning, human-robot interaction
Article outline
  • 1.Introduction
  • 2.Robot system description
    • 2.1iCub
    • 2.2ReacTable
    • 2.3Object Properties Collector
    • 2.4Interaction Supervisor
  • 3.Autobiographical memory and reasoning
    • 3.1Episodic-Like Memory
    • 3.2Semantic memory
    • 3.3Retro reasoning
    • 3.4Level 3 reasoning
    • 3.5From interaction to successive level of representation
  • 4.Planning and goal directed reasoning
    • 4.1Planning Domain Definition Language (PDDL) framework
  • 5.Experiments
    • 5.1Knowledge components to run the experiments
    • 5.2Experiment 1: Learning rules about spatial movement – proof of concept
    • 5.3Experiment 2: The Table of Hanoi
  • 6.Discussion and conclusion
  • Acknowledgements
  • References
Published online: 21 December 2016
DOI logo
https://doi.org/10.1075/is.17.2.04pet
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