Towards Causal Reasoning in Robotics via Semantic and Episodic Memory Integration

• Javier Ballesteros-Jerez ^[1] ; Jesus Martínez-Gómez ^[1] ; Ismael García-Varea ^[1] ; Jorge Calderón ^[2] ; Pilar Bachiller ^[2] ; Pablo Bustos ^[2] ; José Galeas ^[3] ; Antonio Bandera ^[3] ; Rebeca Marfil ^[3]
  1. [1] Universidad de Castilla-La Mancha

     Universidad de Castilla-La Mancha

     Ciudad Real, España

     
  2. [2] Universidad de Extremadura

     Universidad de Extremadura

     Badajoz, España

     
  3. [3] Universidad de Málaga

     Universidad de Málaga

     Málaga, España

     

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• Localización: Proceedings of the XXV International Workshop on Physical Agents / David Herrero Pérez (ed. lit.) , Humberto Martínez Barberá (ed. lit.) , Pablo Bernal Polo (ed. lit.), Nieves Pavón Pulido (ed. lit.), 2025, ISBN 978-84-10327-06-1, págs. 102-118
• Idioma: inglés
• DOI: 10.31428/10317/21054
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  • This paper presents recent developments within the INSIGHTproject, which aims to provide causal explanations for perceptual events experienced by a robot during an HRI mission. We analyze the key requirements for conducting this research in simulated and real scenarios. The CORTEX architecture is used to integrate the necessary elements, memories and modules, to test different theoretical approaches and a wide set of experiments. Two new memory modules, semantic and episodic memories, have been incorporated alongside the existing working memory and internal simulation module. We describe how these components interact to support both bottom-up reactions to events and top-down responses aimed at improving the internal model and reducing the likelihood of similar unforeseen situations