ロボットがイソップ寓話実験で因果学習：意味・エピソード記憶による推論
Causal Learning by a Robot with Semantic-Episodic Memory in an Aesop's Fable Experiment
ロボットに「カラスと水差し」課題を再現させ、過去の経験と現在の状況を比較する学習則で物体の因果関係を抽出し、新規物体の浮き沈みをアルキメデスの原理に収束させた。
著者: Ajaz A. Bhat, Vishwanathan Mohan
分類: cs.AI, cs.RO
原文アブストラクト
Corvids, apes, and children solve The Crow and The Pitcher task (from Aesop's Fables) indicating a causal understanding of the task. By cumulatively interacting with different objects, how can cognitive agents abstract the underlying cause-effect relations to predict affordances of novel objects? We address this question by re-enacting the Aesop's Fable task on a robot and present a) a brain-guided neural model of semantic-episodic memory; with b) four task-agnostic learning rules that compare expectations from recalled past episodes with the current scenario to progressively extract the hidden causal relations. The ensuing robot behaviours illustrate causal learning; and predictions for novel objects converge to Archimedes' principle, independent of both the objects explored during learning and the order of their cumulative exploration.