Ron Petrick's Webpages

Conference paper

Exploration and Planning in a Three-Level Cognitive Architecture, D. Kraft, E. Başeski, M. Popović, A. M. Batog, A. Kjær-Nielsen, N. Krüger, R. Petrick, C. Geib, N. Pugeault, M. Steedman, T. Asfour, R. Dillmann, S. Kalkan, F. Wörgötter, B. Hommel, R. Detry, and J. Piater, Proceedings of the International Conference on Cognitive Systems (CogSys 2008), pages 71-78, 2008.

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Abstract

We describe an embodied cognitive system based on a three-level architecture that includes a sensorimotor layer, a mid-level layer that stores and reasons about object-action episodes, and a high-level symbolic planner that creates abstract action plans to be realised and possibly further specified by the lower levels. The system works in two modes, exploration and plan execution, that both make use of the same architecture. We give results of different sub-processes as well as their interaction. In particular, we describe the generation and execution of plans as well as a set of learning processes that take place independently of, or in parallel with, plan execution.