Related papers: Emergence of Spatial Coordinates via Exploration
Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure…
Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical work suggests that the concept of space…
The design of robotic systems is largely dictated by our purely human intuition about how we perceive the world. This intuition has been proven incorrect with regard to a number of critical issues, such as visual change blindness. In order…
In line with the sensorimotor contingency theory, we investigate the problem of the perception of space from a fundamental sensorimotor perspective. Despite its pervasive nature in our perception of the world, the origin of the concept of…
It is well known that perspective alignment plays a major role in the planning and interpretation of spatial language. In order to understand the role of perspective alignment and the cognitive processes involved, we have made precise…
Most computational accounts of cognitive maps assume that stability is achieved primarily through sensory anchoring, with self-motion contributing to incremental positional updates only. However, biological spatial representations often…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Humans construct internal cognitive maps of their environment directly from sensory inputs without access to a system of explicit coordinates or distance measurements. While machine learning algorithms like SLAM utilize specialized visual…
Developmental Robotics offers a new approach to numerous AI features that are often taken as granted. Traditionally, perception is supposed to be an inherent capacity of the agent. Moreover, it largely relies on models built by the system's…
Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of…
Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…
We deal with the navigation problem where the agent follows natural language instructions while observing the environment. Focusing on language understanding, we show the importance of spatial semantics in grounding navigation instructions…
In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…
Spatial cognition enables adaptive goal-directed behavior by constructing internal models of space. Robust biological systems consolidate spatial knowledge into three interconnected forms: \textit{landmarks} for salient cues, \textit{route…
Spatial reasoning in partially observable environments has often been approached through passive predictive models, yet theories of embodied cognition suggest that genuinely useful representations arise only when perception is tightly…
A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence,…
Recognizing spatial relations and reasoning about them is essential in multiple applications including navigation, direction giving and human-computer interaction in general. Spatial relations between objects can either be explicit --…