Four principal features of autonomous control systems are left both unaddressed and unaddressable by present-day engineering methodologies: (1) The ability to operate effectively in environments that are only partially known at design time; (2) A level of generality that allows a system to re-assess and re-define the fulfillment of its mission in light of unexpected constraints or other unforeseen changes in the environment; (3) The ability to operate effectively in environments of significant complexity; and (4) The ability to degrade gracefully - how it can continue striving to achieve its main goals when resources become scarce, or in light of other expected or unexpected constraining factors that impede its progress. We describe new methodological and engineering principles for addressing these shortcomings, that we have used to design a machine that becomes increasingly better at behaving in underspecified circumstances, in a goal-directed way, on the job, by modeling itself and its environment as experience accumulates. The work provides an architectural blueprint for constructing systems with high levels of operational autonomy in underspecified circumstances, starting from only a small amount of designer-specified code - a seed. Using value-driven dynamic priority scheduling to control the parallel execution of a vast number of lines of reasoning, the system accumulates increasingly useful models of its experience, resulting in recursive self-improvement that can be autonomously sustained after the machine leaves the lab, within the boundaries imposed by its designers. A prototype system named AERA has been implemented and demonstrated to learn a complex real-world task - real-time multimodal dialogue with humans - by on-line observation. Our work presents solutions to several challenges that must be solved for achieving artificial general intelligence.

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An important part of human intelligence is the ability to use language. Humans learn how to use language in a society of language users, which is probably the most effective way to learn a language from the ground up. Principles that might allow an artificial agents to learn language this way are not known at present. Here we present a framework which begins to address this challenge. Our auto-catalytic, endogenous, reflective architecture (AERA) supports the creation of agents that can learn natural language by observation. We present results from two experiments where our S1 agent learns human communication by observing two humans interacting in a realtime mock television interview, using gesture and situated language. Results show that S1 can learn multimodal complex language and multimodal communicative acts, using a vocabulary of 100 words with numerous sentence formats, by observing unscripted interaction between the humans, with no grammar being provided to it a priori, and only high-level information about the format of the human interaction in the form of high-level goals of the interviewer and interviewee and a small ontology. The agent learns both the pragmatics, semantics, and syntax of complex sentences spoken by the human subjects on the topic of recycling of objects such as aluminum cans, glass bottles, plastic, and wood, as well as use of manual deictic reference and anaphora.@en