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Cassie as a Self-Aware SNePS/GLAIR Agent. Stuart C. Shapiro Department of Computer Science and Engineering, and Center for Cognitive Science University at Buffalo, The State University of New York 201 Bell Hall, Buffalo, NY 14260-2000 [email protected] - PowerPoint PPT Presentation
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cse@buff
alo
Cassie as aSelf-Aware SNePS/GLAIR Agent
Stuart C. Shapiro Department of Computer Science and Engineering,
and Center for Cognitive Science
University at Buffalo, The State University of New York
201 Bell Hall, Buffalo, NY 14260-2000
http://www.cse.buffalo.edu/~shapiro/
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What is it?• A computational cognitive agent that can:
– Understand and communicate in English; – Discuss specific, generic, and “rule-like” information;– Reason;– Discuss acts and plans;– Sense;– Act;– Maintain a model of itself;– Remember and report what it has sensed and done.
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Cassie, the FEVAHR
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Simulated FEVAHR
Cassie
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UXO Remediation
CassieCorner flag
NonUXO object
Corner flag
UXO
Batterymeter
Corner flag
Drop-off zone
Field
Safe zone
RechargingStation
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Crystal Cassie
First Person Perspective Views
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Princess from “The Trial, The Trail”A VR drama by Josephine Anstey
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Patofil and Filopat
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Magellan ProTM Mobile Robotfrom
iRobot
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GLAIR Architecture
Knowledge Level
Perceptuo-Motor Level
Sensory-Actuator Level NL
Vision
Sonar
MotionProprioception
Grounded Layered Architecture with Integrated Reasoning
SNePSMind
Body
World
deictic & modality registers& primitive-action procedures IP Sockets
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SNePS• A logic-based KR system
• using reified propositions
• with special constructs for acts
• and an acting executive
• as well as an inference engine
• with an ATMS.
• From a Wumpus World agent:– all(r)(Isa(r,room)
=> whendo(In(r), believe(~Contains(r,pit)))).
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Kinds of Self-Awarenessin Cassie
• Static beliefs (non-fluents) about herself Knows and recognizes her name.
– My name is `Cassie’.
• Has first-person, privileged knowledge of ,
remembers, and can tell what she’s done.
Has a sense of time, including “now”.
Knows whom she is conversing with.– I talked to Bill and I am talking to you.
• Has self-perception of what she says.
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Basic Approach toEssential Self-Awareness
• Beliefs about self at KL (mind)
inserted by PML (body).
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How It’s Implementedat the KL
• SNePS term denoting Cassie– Used in all beliefs about herself.
• SNePS terms denoting times– To relate acts/events
• Representation of acts is the same– For acts to be done by Cassie
– For acts done by Cassie
– For acts done by other agents
– For acting
– For NL interaction
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How It’s Implementedat the PML
• Deictic Registers– I = SNePS term denoting Cassie
– NOW = SNePS term denoting current time
– YOU = SNePS term denoting conversational partner
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How It’s Implementedat the PML
• Modality Registers– For current acts
• Vision modality register– KL term of entity Cassie’s currently looking at
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How It’s Implementedat the PML
• Lisp implementation of KL primitive acts
• Implementation of act a inserts KL belief that
I did a NOW
and moves NOW.
= First person, privileged belief.
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Multi-Computer VR AgentsKL
PMLa
PMLb
PMLc
SAL
IP Sockets
SNePS terms
deictic & modality registersprimitive-action
procedures
hardware drivers
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Body-Mind FeedbackMost Difficult Issue
• When should mind move to next step of plan?
• When sense that goal of previous step has been achieved.
• For speech sequence:
when hear self over self-perception socket.
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Next Steps
• Since awareness of acting is
added by implementation of primitive acts,
don’t yet have awareness of non-primitive acts.
• Put all this in architecture,
so agent implementers needn’t be concerned.