PEPA: 個性を持つ持続的自律型身体性エージェント
PEPA: a Persistently Autonomous Embodied Agent with Personalities
性格特性を内在的な目標生成の原理として用い、三層認知アーキテクチャにより四足歩行ロボットが外部指示なしに自律的に目標を生成・実行するフレームワークを提案。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Kaige Liu, Yang Li, Lijun Zhu, Weinan Zhang
分類: cs.RO, cs.AI
原文アブストラクト
Living organisms exhibit persistent autonomy through internally generated goals and self-sustaining behavioral organization, yet current embodied agents remain driven by externally scripted objectives. This dependence on predefined task specifications limits their capacity for long-term deployment in dynamic, unstructured environments where continuous human intervention is impractical. We propose that personality traits provide an intrinsic organizational principle for achieving persistent autonomy. Analogous to genotypic biases shaping biological behavioral tendencies, personalities enable agents to autonomously generate goals and sustain behavioral evolution without external supervision. To realize this, we develop PEPA, a three-layer cognitive architecture that operates through three interacting systems: Sys3 autonomously synthesizes personality-aligned goals and refines them via episodic memory and daily self-reflection; Sys2 performs deliberative reasoning to translate goals into executable action plans; Sys1 grounds the agent in sensorimotor interaction, executing actions and recording experiences. We validate the framework through real-world deployment on a quadruped robot in a multi-floor office building. Operating without reliance on fixed task specifications, the robot autonomously arbitrates between user requests and personality-driven motivations, navigating elevators and exploring environments accordingly. Quantitative analysis across five distinct personality prototypes demonstrates stable, trait-aligned behaviors. The results confirm that personality-driven cognitive architectures enable sustained autonomous operation characteristic of persistent embodied systems. Code and demo videos are available at https://sites.google.com/view/pepa-persistent/.
関連論文
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- 信頼性の高い自律エージェントとロボットに関する第3回ワークショップ論文集自律エージェント
- 自律エージェントのための動的な能力自己評価自律エージェント
