Affordance Equivalences in Robotics: A Formalism.

Automatic knowledge grounding is still an open problem in cognitive robotics. Recent research in developmental robotics suggests that a robot's interaction with its environment is a valuable source for collecting such knowledge about the effects of robot's actions. A useful concept for this process is that of an affordance, defined as a relationship between an actor, an action performed by this actor, an object on which the action is performed, and the resulting effect. This paper proposes a formalism for defining and identifying affordance equivalence. By comparing the elements of two affordances, we can identify equivalences between affordances, and thus acquire grounded knowledge for the robot. This is useful when changes occur in the set of actions or objects available to the robot, allowing to find alternative paths to reach goals. In the experimental validation phase we verify if the recorded interaction data is coherent with the identified affordance equivalences. This is done by querying a Bayesian Network that serves as container for the collected interaction data, and verifying that both affordances considered equivalent yield the same effect with a high probability.

Toward Self-Aware Robots.

Despite major progress in Robotics and AI, robots are still basically "zombies" repeatedly achieving actions and tasks without understanding what they are doing. Deep-Learning AI programs classify tremendous amounts of data without grasping the meaning of their inputs or outputs. We still lack a genuine theory of the underlying principles and methods that would enable robots to understand their environment, to be cognizant of what they do, to take appropriate and timely initiatives, to learn from their own experience and to show that they know that they have learned and how. The rationale of this paper is that the understanding of its environment by an agent (the agent itself and its effects on the environment included) requires its self-awareness, which actually is itself emerging as a result of this understanding and the distinction that the agent is capable to make between its own mind-body and its environment. The paper develops along five issues: agent perception and interaction with the environment; learning actions; agent interaction with other agents-specifically humans; decision-making; and the cognitive architecture integrating these capacities.