NOTE: The following materials are presented for timely
dissemination of
academic and technical work. Copyright and all other rights
therein are reserved by authors and/or other copyright
holders. Persoanl
use of the following materials is permitted and, however, people using
the materials or information
are expected to adhere to the terms and
constraints invoked by the related copyright.
Towards Real-World Capable Spatial Memory
in the LIDA Cognitive Architecture
ABSTRACT
The ability to represent and utilize spatial information relevant to their goals is vital for intelligent
agents. Doing so in the real world presents significant challenges, which have so far
mostly been addressed by robotics approaches neglecting cognitive plausibility; whereas existing
cognitive models mostly implement spatial abilities in simplistic environments, neglecting
uncertainty and complexity. Here, we take a step towards computational software agents capable of forming spatial memories
in realistic environments, based on the biologically inspired LIDA cognitive architecture.
We identify and address challenges faced by agents operating with noisy sensors and actuators
in a complex physical world, including near-optimal integration of spatial cues from different
modalities for localization and mapping, correcting cognitive maps when revisiting locations,
the structuring of complex maps for computational efficiency, and multi-goal route planning
on hierarchical cognitive maps. We also describe computational mechanisms addressing these
challenges based on LIDA, and demonstrate their functionality by replicating several psychological
experiments.
Click
bica2016.pdf
for full text
and
bica2016_supplement.pdf
for supplemental materials.