Escaping Local Minima Via Appraisal Driven Responses

Malte Damgaard; Rasmus Pedersen; Thomas Bak

doi:10.20944/preprints202211.0511.v1

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preprints.org > computer science and mathematics > robotics > doi: 10.20944/preprints202211.0511.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Escaping Local Minima Via Appraisal Driven Responses

Malte Damgaard

^* ,

Rasmus Pedersen

Thomas Bak

Version 1 : Received: 26 November 2022 / Approved: 28 November 2022 / Online: 28 November 2022 (10:08:42 CET)

A peer-reviewed article of this Preprint also exists.

Damgaard, M.R.; Pedersen, R.; Bak, T. Escaping Local Minima Via Appraisal Driven Responses. Robotics 2022, 11, 153. Damgaard, M.R.; Pedersen, R.; Bak, T. Escaping Local Minima Via Appraisal Driven Responses. Robotics 2022, 11, 153.

Abstract

Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic context-dependent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism.

Keywords

Cognitive Robotics; Cognitive Architecture; Appraisals; Reflective Control; Deliberate Control; Reactive Control; Variational Inference; Deadlocks; Probabilistic Programming Idiom; The Standard Model of the Mind

Subject

Computer Science and Mathematics, Robotics

Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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