Working Memory (WM) is a necessary component for models of human cognition and human-inspired robot cognitive architectures. Different theories explain how the limited capacity of WM should be maintained, including theories of forgetting through decay and interference. Yet, it is unclear how WM models informed by these theories might be used to inform robot cognition, and how they might shape robots' ability to engage in natural, situated, language-based interactions. To resolve this tension, in this work we consider entity-level, feature-based WM systems that can be integrated into robot cognitive architectures to reflect both decay- and interference-based dynamics. We demonstrate how different parameterizations of these WM strategies have fundamentally different error modes in different interaction contexts. We formulate rules that inform the selection of decay and interference parameters to be used in contexts with different factors that are important for language-based interaction.

Working Memory (WM) plays a key role in natural language understanding and generation. To enable a human-like breadth and flexibility of language understanding and generation capabilities, cognitive systems for language-capable robots should feature a human-like WM system in a similarly central role. However, it is still quite unclear how robotic WM should be designed, as a variety of models of human WM have been proposed in cognitive psychology. Moreover, human reliance on WM during language production is sometimes to help the speaker rather than to help hearers. Thus, it is unclear whether different robotic WM systems might harm certain dimensions of interaction for the sake of the robot speaker's ostensible ease of cognitive processing. In this paper we demonstrate how different models of human WM can be implemented into robot cognitive architectures. Our results suggest that these models can be effective in terms of accuracy, perceived naturalness, and perceived human-likeness.

Referring expression understanding and generation are critical for robots to communicate about the world around them. Recently there have been significant advances on the problem of referring expression understanding, also known as reference resolution, with researchers presenting approaches to both incremental reference resolution (i.e., processing referring expressions word by word in real-time as they are spoken) and open-world reference resolution (i.e., resolving references both to known and previously unknown entities). In this work, we combine insights from these approaches to present IPOWER: the first algorithm for performing reference resolution incrementally in open-world environments.