This paper introduces CognitiveOS, the first operating system designed for cognitive robots capable of functioning across diverse robotic platforms. CognitiveOS is structured as a multi-agent system comprising modules built upon a transformer architecture, facilitating communication through an internal monologue format. These modules collectively empower the robot to tackle intricate real-world tasks. The paper delineates the operational principles of the system along with descriptions of its nine distinct modules. The modular design endows the system with distinctive advantages over traditional end-to-end methodologies, notably in terms of adaptability and scalability. The system's modules are configurable, modifiable, or deactivatable depending on the task requirements, while new modules can be seamlessly integrated. This system serves as a foundational resource for researchers and developers in the cognitive robotics domain, alleviating the burden of constructing a cognitive robot system from scratch. Experimental findings demonstrate the system's advanced task comprehension and adaptability across varied tasks, robotic platforms, and module configurations, underscoring its potential for real-world applications. Moreover, in the category of Reasoning it outperformed CognitiveDog (by 15%) and RT2 (by 31%), achieving the highest to date rate of 77%. We provide a code repository and dataset for the replication of CognitiveOS: link will be provided in camera-ready submission.

翻译：本文介绍了CognitiveOS——首个旨在使认知机器人能够在多种机器人平台上运行的操作系统。CognitiveOS设计为多智能体系统，包含基于Transformer架构构建的模块，并通过内部独白格式实现通信。这些模块共同赋能机器人处理复杂的实际任务。本文阐述了系统的运行原理，并描述了其九个独特模块。相较于传统端到端方法，模块化设计赋予系统显著优势，特别是在适应性和可扩展性方面。系统模块可根据任务需求进行配置、修改或停用，同时新模块可无缝集成。该系统为认知机器人领域的研究人员和开发者提供了基础资源，减轻了从零构建认知机器人系统的负担。实验结果表明，系统在多样化任务、机器人平台及模块配置下展现出卓越的任务理解能力和适应性，凸显了其实际应用潜力。此外，在推理类别中，CognitiveOS的表现分别优于CognitiveDog（15%）和RT2（31%），达到了迄今为止最高的77%成功率。我们提供用于复现CognitiveOS的代码仓库与数据集：链接将在最终定稿版本中提供。