让机器人学会评估自身决策信心，提升工具发明的自主性与可靠性。
Robot Metacognition: Decision Making with Confidence for Tool Invention
- 以决策信心为核心构建机器人元认知架构，实现自我评估。
- 在自主工具发明任务中，信心指导行为调整，增强实际部署鲁棒性。
- 适用于需要自主判断与资源调控的智能机器人系统。
当前机器人往往缺乏真正智能行为的关键要素：对自身认知过程与决策的反思能力。在人类中，这种元认知（metacognition）对学习、决策和问题解决至关重要，例如可评估执行任务的信心，从而调节行为并合理分配资源。受神经科学启发，我们提出一种以信心（对决策的二级判断）为核心的机器人元认知架构，并在自主工具发明这一具体场景中进行验证。通过将信心作为元认知指标融入决策机制，具备信心感知的机器人能够评估其决策的可靠性，从而在真实物理环境中提升鲁棒性。该方法强调具身行动监控作为获取更优决策依据的途径。同时，我们探讨了该技术的潜在应用及未来研究方向。
原文摘要 · Abstract (English)
Robots today often miss a key ingredient of truly intelligent behavior: the ability to reflect on their own cognitive processes and decisions. In humans, this self-monitoring or metacognition is crucial for learning, decision making and problem solving. For instance, they can evaluate how confident they are in performing a task, thus regulating their own behavior and allocating proper resources. Taking inspiration from neuroscience, we propose a robot metacognition architecture centered on confidence (a second-order judgment on decisions) and we demonstrate it on the use case of autonomous tool invention. We propose the use of confidence as a metacognitive measure within the robot decision making scheme. Confidence-informed robots can evaluate the reliability of their decisions, improving their robustness during real-world physical deployment. This form of robotic metacognition emphasizes embodied action monitoring as a means to achieve better informed decisions. We also highlight potential applications and research directions for robot metacognition.
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