TL;DR
PEPA introduces a personality-based cognitive architecture enabling autonomous embodied agents to operate persistently without predefined tasks, demonstrated on a quadruped robot navigating complex environments.
Contribution
The paper presents PEPA, a novel three-layer architecture that uses personality traits to generate goals and sustain autonomous behavior in robots.
Findings
Robot operated autonomously in a multi-floor office environment.
Behavior aligned with five distinct personality prototypes.
Demonstrated stable, trait-consistent behaviors over extended periods.
Abstract
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…
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