1. Chapter 9. PlayMate System (1/2) in Cognitive Systems, Henrik Iskov Chritensen et al. Course: Robots Learning from Humans Kwak, Hanock Biointelligence Laboratory School of Computer Science and Engineering Seoul National University http://bi.snu.ac.kr

2. Contents Introduction Scenario System Overview Vision SA Spatial SA Communication SA Binding SA 2

3. Introduction © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 3

4. Scenario Man: This is a blue square Robot: Ok © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 4

5. Scenario Man: This is a red square Robot: Ok © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 5

6. Scenario Man: (Replace the red square with red triangle) Robot: What is the thing to the right of the blue square. Man: It is a red triangle. © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 6

7. System Overview © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 7

8. System Overview Subarchitectures (SAs) Visual processing (Vision SA) Speech recognition & generator (ComSys SA) Spatial representation and reasoning (Spatial SA) Manipulation (Manipulation SA) Binding of information between modalities (Binding SA) Control of motivation and planning (Motivation and Planning SA) © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 8

9. Vision SA Change detector determines whether the scene is, or has stopped changing Regions of interest (ROIs) in the scene are segmented © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 9

10. Working memory Vision SA © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 10

11. Spatial SA Captures both metric and qualitative representations © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 11 What is the thing to the right of the blue square

12. Spatial SA Working memory © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 12

13. Communication SA Captures both the indexical and intentional contents of an utterance Working memory © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 13

14. Binding SA Finds cross-modal relations © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 14 This is a blue square.

15. Integration of SAs © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 15