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Creation of Self-organizing Cognitive Architecture Integrating Probabilistic Generative Model and Deep Learning

Research Project

Project/Area Number 18H03308
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 61040:Soft computing-related
Research InstitutionRitsumeikan University

Principal Investigator

Taniguchi Tadahiro  立命館大学, 情報理工学部, 教授 (80512251)

Co-Investigator(Kenkyū-buntansha) 萩原 良信  立命館大学, 情報理工学部, 講師 (20609416)
Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2020: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
Fiscal Year 2019: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
Fiscal Year 2018: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Keywords機械学習 / 深層学習 / 確率的生成モデル / 認知アーキテクチャ / 自己組織化
Outline of Final Research Achievements

We have proposed a novel framework called Neuro-SERKET as a distributed development framework to develop a self-organizing cognitive architecture that can utilize the advantages of both probabilistic generative models and deep learning. The Neuro-SERKET is an extension of the previously proposed framework, SERKET. This enables us to integrate (deep) probabilistic generative models that have been developed in a distributed manner and to reason about them as a whole. We also have studied the fusion of SLAM and GAN, and the fusion of deep generative models for speech conversion and probabilistic generative models for speech recognition. Through these studies, we built the foundation of a self-organizing cognitive architecture.

Academic Significance and Societal Importance of the Research Achievements

実世界で学習し続けるロボットを生み出すためには視覚や触覚,音声といったマルチモーダル情報を得続け,また行動を意思決定し続ける認知アーキテクチャが必要である.本研究では認知システムの内部で情報が自己組織化するように「学習し続ける」認知アーキテクチャのための基礎理論として,確率的生成モデルと深層学習を融合させるフレームワークの開発を行った.これは機械学習と認知ロボティクスを架橋する研究であるとともに,実世界で活動し続ける自律的な人工知能を生み出すための基盤技術となる.

Report

(4 results)
  • 2021 Final Research Report ( PDF )
  • 2020 Annual Research Report
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • Research Products

    (24 results)

All 2022 2021 2020 2019 2018 Other

All Journal Article (6 results) (of which Int'l Joint Research: 2 results,  Peer Reviewed: 5 results,  Open Access: 6 results) Presentation (15 results) (of which Int'l Joint Research: 5 results,  Invited: 9 results) Book (1 results) Remarks (1 results) Funded Workshop (1 results)

  • [Journal Article] A whole brain probabilistic generative model: Toward realizing cognitive architectures for developmental robots2022

    • Author(s)
      Taniguchi T, Yamakawa H, Nagai T, Doya K, Sakagami M, Suzuki M, Nakamura T, Taniguchi A
    • Journal Title

      Neural Networks

      Volume: 150 Pages: 293-312

    • DOI

      10.1016/j.neunet.2022.02.026

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Map completion from partial observation using the global structure of multiple environmental maps2022

    • Author(s)
      Katsumata Yuki、Kanechika Akinori、Taniguchi Akira、El Hafi Lotfi、Hagiwara Yoshinobu、Taniguchi Tadahiro
    • Journal Title

      Advanced Robotics

      Volume: 36 Issue: 5-6 Pages: 279-290

    • DOI

      10.1080/01691864.2022.2029762

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Integrative Cognitive Systems for Language Understanding and Symbol Emergence in Robotics2021

    • Author(s)
      Taniguchi Tadahiro
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 39 Issue: 5 Pages: 405-410

    • DOI

      10.7210/jrsj.39.405

    • NAID

      130008055386

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2020 Annual Research Report
    • Open Access
  • [Journal Article] Neuro-SERKET: Development of Integrative Cognitive System through the Composition of Deep Probabilistic Generative Models2020

    • Author(s)
      Tadahiro Taniguchi, Tomoaki Nakamura, Masahiro Suzuki, Ryo Kuniyasu, Kaede Hayashi, Akira Taniguchi, Takato Horii, Takayuki Nagai
    • Journal Title

      New Generation Computing

      Volume: 38 Issue: 1 Pages: 23-48

    • DOI

      10.1007/s00354-019-00084-w

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Survey on frontiers of language and robotics2019

    • Author(s)
      Tangiuchi T.、Mochihashi D.、Nagai T.、Uchida S.、Inoue N.、Kobayashi I.、Nakamura T.、Hagiwara Y.、Iwahashi N.、Inamura T.
    • Journal Title

      Advanced Robotics

      Volume: 33 Issue: 15-16 Pages: 700-730

    • DOI

      10.1080/01691864.2019.1632223

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Symbol Emergence in Cognitive Developmental Systems: a Survey2018

    • Author(s)
      Taniguchi Tadahiro、Ugur Emre、Hoffmann Matej、Jamone Lorenzo、Nagai Takayuki、Rosman Benjamin、Matsuka Toshihiko、Iwahashi Naoto、Oztop Erhan、Piater Justus、Worgotter Florentin
    • Journal Title

      IEEE Transactions on Cognitive and Developmental Systems

      Volume: in press Issue: 4 Pages: 1-1

    • DOI

      10.1109/tcds.2018.2867772

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] StarGAN-VC+ASR: StarGAN-based Non-Parallel Voice Conversion Regularized by Automatic Speech Recognition2021

    • Author(s)
      Sakamoto, S., Taniguchi, A., Taniguchi, T., & Kameoka, H.
    • Organizer
      INTERSPEECH 2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Bidirectional Generation of Object Images and Positions using Deep Generative Models for Service Robotics Applications2021

    • Author(s)
      Hayashi, K., Zheng, W., El Hafi, L., Hagiwara, Y., & Taniguchi, T.
    • Organizer
      IEEE/SICE International Symposium on System Integration (SII 2021)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] StarGan-based emotional voice conversion for Japanese phrases2021

    • Author(s)
      Moritani, A., Ozaki, R., Sakamoto, S., Kameoka, H., & Taniguchi, T.
    • Organizer
      APSIPA 2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] StarGAN-VCを用いた話者非依存音響特徴量抽出と二重分節解析への応用2021

    • Author(s)
      小村 漱一朗,林 楓,谷口 彰,谷口 忠大,亀岡 弘和
    • Organizer
      2021年度人工知能学会全国大会(JSAI2021)
    • Related Report
      2020 Annual Research Report
  • [Presentation] StarGAN-VC+ASR:音声認識結果を正則化に活用した教師なし音声変換2021

    • Author(s)
      阪本 翔紀,谷口 彰,谷口 忠大,亀岡 弘和
    • Organizer
      2021年度人工知能学会全国大会(JSAI2021)
    • Related Report
      2020 Annual Research Report
  • [Presentation] Symbol Emergence in Robotics: Towards Emergence of Mind through Physical and Semiotic Interaction2021

    • Author(s)
      谷口忠大
    • Organizer
      メタ科学技術研究プロジェクト第4回国際ワークショップ
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] 深層生成モデルを用いた地図補完とSLAMの統合2020

    • Author(s)
      勝又勇貴,兼近晃徳,谷口彰,エルハフィロトフィ,萩原良信,谷口忠大
    • Organizer
      日本ロボット学会学術講演会 RSJ2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] Symbol Emergence in Robotics: Integrative Probabilistic Generative Models for Developmental Human-Robot Communication in the Real-world Environment2020

    • Author(s)
      Tadahiro Taniguchi
    • Organizer
      IEEE Ubiquitous Robots 2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 確率的深層生成モデルによる実世界自律知能の創成に向けて ~記号創発ロボティクスが生み出す認知アーキテクチャ~2020

    • Author(s)
      谷口忠大
    • Organizer
      2020年度人工知能学会全国大会(JSAI2020)
    • Related Report
      2020 Annual Research Report
    • Invited
  • [Presentation] 知能を創るー汎用人工知能への挑戦2019

    • Author(s)
      谷口忠大
    • Organizer
      AIビジネスインフォマティクス2019
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] 記号創発ロボティクスにおける確率的生成モデルと深層学習の融合2019

    • Author(s)
      谷口忠大
    • Organizer
      「深層学習の先にあるもの ー 記号推論との融合を目指して(2)」公開シンポジウム,東京大学
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] 記号創発ロボティクスによる汎用人工知能への挑戦2018

    • Author(s)
      谷口忠大
    • Organizer
      第10回人工知能学会汎用人工知能研究会(SIG-AGI)
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] ロボティクスと確率モデルに基づく汎用人工知能に向けて ~記号創発ロボティクスのアプローチ~2018

    • Author(s)
      谷口忠大
    • Organizer
      第36回 日本ロボット学会 学術講演会, OS19: 確率ロボティクスとデータ工学ロボティクス ~認識・行動学習・記号創発~
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] Symbol Emergence in Robotics: Towards Architecture for Embodied Developmental General Artificial Intelligence2018

    • Author(s)
      Tadahiro Taniguchi
    • Organizer
      AEGAP 2018 Architectures and Evaluation for Generality, Autonomy & Progress in AI, IJCAI-ECAI 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 記号創発ロボティクスが目指す自律適応型AIアーキテクチャ2018

    • Author(s)
      谷口忠大
    • Organizer
      2018年度 人工知能学会全国大会(第32回)(JSAI2018), OS-6 自律・創発・汎用AIアーキテクチャ
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Book] 僕とアリスの夏物語 人工知能の,その先へ2022

    • Author(s)
      谷口 忠大
    • Total Pages
      206
    • Publisher
      岩波書店
    • ISBN
      4000297090
    • Related Report
      2020 Annual Research Report
  • [Remarks] 立命館大学 創発システム研究室 研究業績

    • URL

      http://www.em.ci.ritsumei.ac.jp/publications/

    • Related Report
      2018 Annual Research Report
  • [Funded Workshop] The Workshop on Deep Probabilistic Generative Models for Cognitive Architecture in Robotics2019

    • Related Report
      2019 Annual Research Report

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Published: 2018-04-23   Modified: 2023-01-30  

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