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A fundamental question in the conjunction of information theory, biophysics, bioinformatics and thermodynamics relates to the principles and processes that guide the development of natural intelligence in natural environments where…
The Machine Consciousness Hypothesis states that consciousness is a substrate-free functional property of computational systems capable of second-order perception. I propose a research program to investigate this idea in silico by studying…
I wrote this paper because technology can really improve people's lives. With it, we can live longer in a healthy body, save time through increased efficiency and automation, and make better decisions. To get to the next level, we need to…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
Robots assisting humans in complex domains have to represent knowledge and reason at both the sensorimotor level and the social level. The architecture described in this paper couples the non-monotonic logical reasoning capabilities of a…
Information theory is a powerful tool to express principles to drive autonomous systems because it is domain invariant and allows for an intuitive interpretation. This paper studies the use of the predictive information (PI), also called…
Introduction: In contrast to current AI technology, natural intelligence -- the kind of autonomous intelligence that is realized in the brains of animals and humans to attain in their natural environment goals defined by a repertoire of…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
According to cognitive psychology and related disciplines, the development of complex problem-solving behaviour in biological agents depends on hierarchical cognitive mechanisms. Hierarchical reinforcement learning is a promising…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
The human brain has many remarkable information processing characteristics that deeply puzzle scientists and engineers. Among the most important and the most intriguing of these characteristics are the brain's broad universality as a…
Self-adaptive robotic systems operate autonomously in dynamic and uncertain environments, requiring robust real-time monitoring and adaptive behaviour. Unlike traditional robotic software with predefined logic, self-adaptive robots exploit…
We introduce Conformal Decision Theory, a framework for producing safe autonomous decisions despite imperfect machine learning predictions. Examples of such decisions are ubiquitous, from robot planning algorithms that rely on pedestrian…
Artificial intelligence algorithms are capable of fantastic exploits, yet they are still grossly inefficient compared with the brain's ability to learn from few exemplars or solve problems that have not been explicitly defined. What is the…
Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the…
This paper presents SYMBIOSIS, an AI-powered framework and platform designed to make Systems Thinking accessible for addressing societal challenges and unlock paths for leveraging systems thinking frameworks to improve AI systems. The…
Driving an automobile involves the tasks of observing surroundings, then making a driving decision based on these observations (steer, brake, coast, etc.). In autonomous driving, all these tasks have to be automated. Autonomous driving…
This document is written with the intention to describe in detail a method and means by which a computer program can reason about the world and in so doing, increase its analogue to a living system. As the literature is rife and it is…
Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…