Exploration and Planning in a Three-Level Cognitive Architecture
Dirk Kraft, Emre Başeski, Mila Popović, Anna Marta Batog, Anders Kjær‐Nielsen, Norbert Krüger, Ronald P. A. Petrick, Christopher Geib, Nicolas Pugeault, Mark J. Steedman, Tamim Asfour, Rüdiger Dillmann, Sinan Kalkan, Florentin Wörgötter, Bermhard Hommel, Renaud J. Detry, Justus Piater · University of Southern Denmark Research Portal (University of Southern Denmark) · 2008
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 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. however, our proposed architecture allows for more general tasks. I.