Robot Cognitive Learning by Considering Physical Properties

Abstract

Humans achieve cognitive development through continuous interaction with their environment, enhancing both perception and behavior. However, current robots lack the capacity for human-like action and evolution, posing a bottleneck to improving robotic intelligence. Existing research predominantly models robots as one-way, static mappings from observations to actions, neglecting the dynamic processes of perception and behavior. This paper introduces a novel approach to robot cognitive learning by considering physical properties. We propose a theoretical framework wherein a robot is conceptualized as a three-body physical system comprising a perception-body (P-body), a cognition-body (C-body), and a behavior-body (B-body). Each body engages in physical dynamics and operates within a closed-loop interaction. Significantly, three crucial interactions connect these bodies. The C-body relies on the P-body’s extracted states and reciprocally offers long-term rewards, optimizing the P-body’s perception policy. In addition, the C-body directs the B-body’s actions through sub-goals, and subsequent P-body-derived states facilitate the C-body’s cognition dynamics learning. At last, the B-body would follow the sub-goal generated by the C-body and perform actions conditioned on the perceptive state from the P-body, which leads to the next interactive step. These interactions foster the joint evolution of each body, culminating in optimal design. To validate our approach, we employ a navigation task using a four-legged robot, D’Kitty, equipped with a movable global camera. Navigational prowess demands intricate coordination of sensing, planning, and D’Kitty’s motion. Leveraging our framework yields superior task performance compared with conventional methodologies. In conclusion, this paper establishes a paradigm shift in robot cognitive learning by integrating physical interactions across the P-body, C-body, and B-body, while considering physical properties. Our framework’s successful application to a navigation task underscores its efficacy in enhancing robotic intelligence.