A Perspective on Lifelong Open-Ended Learning Autonomy for Robotics through Cognitive Architectures.

This paper addresses the problem of achieving lifelong open-ended learning autonomy in robotics, and how different cognitive architectures provide functionalities that support it. To this end, we analyze a set of well-known cognitive architectures in the literature considering the different components they address and how they implement them. Among the main functionalities that are taken as relevant for lifelong open-ended learning autonomy are the fact that architectures must contemplate learning, and the availability of contextual memory systems, motivations or attention. Additionally, we try to establish which of them were actually applied to real robot scenarios. It transpires that in their current form, none of them are completely ready to address this challenge, but some of them do provide some indications on the paths to follow in some of the aspects they contemplate. It can be gleaned that for lifelong open-ended learning autonomy, motivational systems that allow finding domain-dependent goals from general internal drives, contextual long-term memory systems that all allow for associative learning and retrieval of knowledge, and robust learning systems would be the main components required. Nevertheless, other components, such as attention mechanisms or representation management systems, would greatly facilitate operation in complex domains.

Perceptual Generalization and Context in a Network Memory Inspired Long-Term Memory for Artificial Cognition.

In the framework of open-ended learning cognitive architectures for robots, this paper deals with the design of a Long-Term Memory (LTM) structure that can accommodate the progressive acquisition of experience-based decision capabilities, or what different authors call "automation" of what is learnt, as a complementary system to more common prospective functions. The LTM proposed here provides for a relational storage of knowledge nuggets given the form of artificial neural networks (ANNs) that is representative of the contexts in which they are relevant in a configural associative structure. It also addresses the problem of continuous perceptual spaces and the task- and context-related generalization or categorization of perceptions in an autonomous manner within the embodied sensorimotor apparatus of the robot. These issues are analyzed and a solution is proposed through the introduction of two new types of knowledge nuggets: P-nodes representing perceptual classes and C-nodes representing contexts. The approach is studied and its performance evaluated through its implementation and application to a real robotic experiment.