# Toward an Idiomatic Framework for Cognitive Robotics

arXiv: https://arxiv.org/abs/2111.13027 · HTML: https://mlsanity.com/paper/2111.13027/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 57 references that are in the map.
- First posted on arXiv 25 Nov 2021.

## Builds on (most cited first, 19 of 19)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Auto-Encoding Variational Bayes](https://mlsanity.com/paper/1312.6114/) (2013)
- [Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review](https://mlsanity.com/paper/1805.00909/) (2018)
- [Pyro: Deep Universal Probabilistic Programming](https://mlsanity.com/paper/1810.09538/) (2018)
- [Black Box Variational Inference](https://mlsanity.com/paper/1401.0118/) (2013)
- [Advances in Variational Inference](https://mlsanity.com/paper/1711.05597/) (2017)
- [Composable Effects for Flexible and Accelerated Probabilistic Programming in NumPyro](https://mlsanity.com/paper/1912.11554/) (2019)
- [Automatic Differentiation Variational Inference](https://mlsanity.com/paper/1603.00788/) (2016)
- [R'enyi Divergence Variational Inference](https://mlsanity.com/paper/1602.02311/) (2016)
- [Learning Disentangled Representations with Semi-Supervised Deep Generative Models](https://mlsanity.com/paper/1706.00400/) (2017)
- [An Introduction to Probabilistic Programming](https://mlsanity.com/paper/1809.10756/) (2018)
- [Deep Probabilistic Programming](https://mlsanity.com/paper/1701.03757/) (2017)
- [HouseExpo: A Large-scale 2D Indoor Layout Dataset for Learning-based Algorithms on Mobile Robots](https://mlsanity.com/paper/1903.09845/) (2019)
- [Venture: a higher-order probabilistic programming platform with programmable inference](https://mlsanity.com/paper/1404.0099/) (2014)
- [Neuro-SERKET: Development of Integrative Cognitive System through the Composition of Deep Probabilistic Generative Models](https://mlsanity.com/paper/1910.08918/) (2019)
- [SERKET: An Architecture for Connecting Stochastic Models to Realize a Large-Scale Cognitive Model](https://mlsanity.com/paper/1712.00929/) (2017)
- [Improved and Scalable Online Learning of Spatial Concepts and Language Models with Mapping](https://mlsanity.com/paper/1803.03481/) (2018)
- [Spatial Concept-Based Navigation with Human Speech Instructions via Probabilistic Inference on Bayesian Generative Model](https://mlsanity.com/paper/2002.07381/) (2020)
- [A Socially Adaptable Framework for Human-Robot Interaction](https://mlsanity.com/paper/2003.11410/) (2020)

## Built on by (most cited first, 2 of 2)

- [World Models and Predictive Coding for Cognitive and Developmental Robotics: Frontiers and Challenges](https://mlsanity.com/paper/2301.05832/) (2023)
- [A Probabilistic Programming Idiom for Active Knowledge Search](https://mlsanity.com/paper/2202.09555/) (2022)

## Abstract (arXiv)

Inspired by the "Cognitive Hour-glass" model presented in https://doi.org/10.1515/jagi-2016-0001, we propose a new framework for developing cognitive architectures aimed at cognitive robotics. The purpose of the proposed framework is foremost to ease the development of cognitive architectures by encouraging and mitigating cooperation and re-use of existing results. This is done by proposing a framework dividing the development of cognitive architectures into a series of layers that can be considered partly in isolation, and some of which directly relate to other research fields. Finally, we give introductions to and review some topics essential to the proposed framework.