D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification different levels using the same way. Thus, conceptually, the SOIAA architecture does not have to distinguish a priori on which level it interacts with the CORBYS sensorimotor command loop and is not limited to one particular level of control. In the spirit of ensuring the timeliness and novelty of the cognitive research component of the CORBYS project, the present proposal for the interface requirements will emphasise that the interface supports the universality of the proposed cognitive solution in that it will not limit a priori (with exception of aspects of safety) the level at which SOIAA interacts with the CORBYS sensorimotor command loop. However, this does not preclude that clear preferences be formulated by the CORBYS Consortium which cognitive levels (e.g. high-level) should be addressed with priority. 7.6.2 Functional Requirements 7.6.2.1 Processes Inputs Requirement No. SOIAA1 Name: Sensorimotor data from the robot platforms Description: To develop and train a first prototype of the SOIAA algorithm UH requires a large data set of Sensorimotor data from the robot platforms. This data set should comprise timestamped low level sensor values, regarding various robot components or other available information, such as from the BCI (in the case of the first demonstrator), and would include, but would not be limited to: � positions � orientations � velocities � accelerations � forces � absolute positions/orientations if available � proprioceptive information about actuator activity � BCI channel information � (semantic) tags of events; especially to be used for debugging Reason / Comments: Any available sensor data should be accessible by SOIAA (and it should be possible for SOIAA to select between raw and, where applicable, suitably pre-processed data). The format it is provided in should foreshadow the interface which will later be used for the CORBYS sensorimotor command loop to interact with the SOIAA algorithm in the robot. Indicative priority Mandatory Requirement No. SOIAA2 Name: Documentation Sensorimotor data from the robot platforms Description: The sensor motor data should be accompanied by a document relating parameter values to the respective sensors and actuators, detailing the type of the parameter, its minimal and maximal values, and other relevant information. Furthermore, it should identify which of the provided parameters would be available on the onboard robot system prototype, and which of them are supplementary “lab-only” data which will only be available as test and training data (e.g. hand-created semantic tags, absolute positions determined with sensors outside of the robot, etc.). Reason / Comments: Indicative priority Desirable Requirement No. SOIAA3 76
D2.1 Requirements and Specification Name: Parameter Space Specifications Description: For SOIAA to take full advantage of the information-theoretic methodology it is based on, it would be highly desirable for SOIAA to have additional information available about all the parameters and data points provided by the CORBYS sensorimotor command loop. This should address questions such as, but should not be limited to: � Is the parameter continuous or discrete? � If discrete, what are the possible state transitions? What is the topology of the parameter space? � If continuous, what are the extreme values the variable can assume; what is the manifold structure of the parameter space? � What is the resolution of the physical sensor measuring the continuous variable? � What is the value measured in (meter, degrees, etc)? Reason / Comments: To apply the information-theoretic methodology to full effect, it is necessary that quantitative, low-level data is made available to the SOIAA component. Indicative priority Desirable Requirement No. SOIAA4 Name: Structural Information regarding Parameter Space Description: - An operational structure formalising the effects of and constraints on actions (outputs) on the values of the overall system, formalised in mathematical terms, such as e.g. semigroup or Lie group action, invariances, and similar; - An interventional structure indicating which variables are causally subject to change if a certain action (output) variable is changed. One form in which this could be expressed is as a Causal Bayesian Network on the variable space. If such explicit structures are not available a priori, weaker substitutes which can be derived from empirical data could be used instead, among others e.g.: � Laplacian models of data (Kondor and Lafferty 2002) � graphlet library (e.g. Kondor, Shervashidze, Borgwardt 2009) Reason / Comments: It would be an advantage if the SOIAA component had access to further information about the structure of parameter space. Indicative priority Desirable Output Requirement No. SOIAA5 Name: Self-motivated movement and goal generator Description: Variations of Klyubin’s (2004, 2007) Empowerment methodology are used to identify both, salient, high empowered states and trajectories in the state space of the human-robot system. Reason / Comments: Discussion with the relevant partners is needed to determine the exact specifications of this state space. Indicative priority Mandatory Requirement No. SOIAA6 Name: Models and algorithms for the identification and anticipation of human purposeful behaviour Description: The “Relevant Goal Information” approach, a specific kind of conditional Bayesian modelling, will be used to identify the most likely candidates for sub goals from the salient, high empowered output states of SOIAA5. Reason / Comments: This module is dependent on SOIAA5 77
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CORBYS Cognitive Control Framework
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D2.1 Requirements and Specification
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D2.1 Requirements and Specification - CORBYS

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