A whole brain probabilistic generative model: Toward realizing cognitive architectures for developmental robots

Tadahiro Taniguchi; Hiroshi Yamakawa; Takayuki Nagai; Kenji Doya; Masamichi Sakagami; Masahiro Suzuki; Tomoaki Nakamura; Akira Taniguchi

doi:10.1016/j.neunet.2022.02.026

A whole brain probabilistic generative model: Toward realizing cognitive architectures for developmental robots

Neural Netw. 2022 Jun:150:293-312. doi: 10.1016/j.neunet.2022.02.026. Epub 2022 Mar 9.

Authors

Tadahiro Taniguchi¹, Hiroshi Yamakawa², Takayuki Nagai³, Kenji Doya⁴, Masamichi Sakagami⁵, Masahiro Suzuki⁶, Tomoaki Nakamura⁷, Akira Taniguchi⁸

Affiliations

¹ Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Japan. Electronic address: taniguchi@em.ci.ritsumei.ac.jp.
² The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, Japan; The Whole Brain Architecture Initiative, 2-19-21 Nishikoiwa , Edogawa-ku, Tokyo, Japan; RIKEN, 6-2-3 Furuedai, Suita, Osaka, Japan.
³ Osaka University, 1-3 Machikane-yama, Toyonaka, Osaka, Japan.
⁴ Okinawa Institute of Science and Technology Graduate University, 1919-1 Tancha, Onna-son, Kunigami, Okinawa, Japan.
⁵ Tamagawa University, 6-1-1 Tamagawa Gakuen, Machida, Tokyo, Japan.
⁶ The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, Japan.
⁷ The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan.
⁸ Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Japan.

PMID: 35339010
DOI: 10.1016/j.neunet.2022.02.026

Abstract

Building a human-like integrative artificial cognitive system, that is, an artificial general intelligence (AGI), is the holy grail of the artificial intelligence (AI) field. Furthermore, a computational model that enables an artificial system to achieve cognitive development will be an excellent reference for brain and cognitive science. This paper describes an approach to develop a cognitive architecture by integrating elemental cognitive modules to enable the training of the modules as a whole. This approach is based on two ideas: (1) brain-inspired AI, learning human brain architecture to build human-level intelligence, and (2) a probabilistic generative model (PGM)-based cognitive architecture to develop a cognitive system for developmental robots by integrating PGMs. The proposed development framework is called a whole brain PGM (WB-PGM), which differs fundamentally from existing cognitive architectures in that it can learn continuously through a system based on sensory-motor information. In this paper, we describe the rationale for WB-PGM, the current status of PGM-based elemental cognitive modules, their relationship with the human brain, the approach to the integration of the cognitive modules, and future challenges. Our findings can serve as a reference for brain studies. As PGMs describe explicit informational relationships between variables, WB-PGM provides interpretable guidance from computational sciences to brain science. By providing such information, researchers in neuroscience can provide feedback to researchers in AI and robotics on what the current models lack with reference to the brain. Further, it can facilitate collaboration among researchers in neuro-cognitive sciences as well as AI and robotics.

Keywords: Artificial general intelligence; Brain-inspired artificial intelligence; Cognitive architecture; Developmental robotics; Probabilistic generative model.

MeSH terms

Artificial Intelligence
Brain
Cognition
Humans
Neurosciences*
Robotics*