A Testbed for Evaluation of Architectures for Physical Agents

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Although cognitive architectures provide an excellent infrastructure for research stretching over various fields, their integration of multiple modules makes their evaluation difficult. Due to the lack of analytical criteria, the cost of demonstrations, and varying specifications among different architectures, developing evaluation methods is a challenge. In this paper, we describe a testbed for evaluation that revolves around an in-city driving environment. With its familiar but challenging missions cast in a rich setting, the testbed provides a uniform and competitive environment for evaluating cognitive architectures.