alo cse f buf Cassie as a SelfAware

alo @ cse f buf Cassie as a Self-Aware SNe. PS/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 shapiro@cse. buffalo. edu http: //www. cse. buffalo. edu/~shapiro/ April, 2004 S. C. Shapiro

alo f buf @ cse What is it? • A computational cognitive agent that can: – Understand 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. 2 April, 2004 S. C. Shapiro

alo @ cse f buf Cassie, the FEVAHR 3 April, 2004 S. C. Shapiro

alo f buf @ cse Simulated FEVAHR Cassie 4 April, 2004 S. C. Shapiro

alo f buf @ cse UXO Remediation Corner flag Field Drop-off zone UXO Non. UXO object Battery meter Corner flag Cassie Safe zone Corner flag Recharging Station 5 April, 2004 S. C. Shapiro

alo @ cse f buf Crystal Cassie First Person Perspective Views 6 April, 2004 S. C. Shapiro

alo @ cse f buf Princess from “The Trial, The Trail” A VR drama by Josephine Anstey 7 April, 2004 S. C. Shapiro

alo @ cse f buf Patofil and Filopat 8 April, 2004 S. C. Shapiro

alo @ cse f buf Magellan Pro. TM Mobile Robot from i. Robot 9 April, 2004 S. C. Shapiro

alo f buf @ cse GLAIR Architecture Grounded Layered Architecture with Integrated Reasoning Knowledge Level Mind B o d y Wo SNe. PS Perceptuo-Motor Level deictic & modality registers & primitive-action procedures IP Sockets NL Sensory-Actuator Level rld Vision Sonar Proprioception Motion 10 April, 2004 S. C. Shapiro

alo f buf @ cse • • SNe. PS 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)))). 11 April, 2004 S. C. Shapiro

alo f buf @ cse Kinds of Self-Awareness in 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. 12 April, 2004 S. C. Shapiro

alo @ cse f buf Basic Approach to Essential Self-Awareness • Beliefs about self at KL (mind) inserted by PML (body). 13 April, 2004 S. C. Shapiro

alo @ cse f buf How It’s Implemented at the KL • SNe. PS term denoting Cassie – Used in all beliefs about herself. • SNe. PS terms denoting times – To relate acts/events • Representation of acts is the same – – – For acts to be done by Cassie For acts done by other agents For acting For NL interaction 14 April, 2004 S. C. Shapiro

alo f buf @ cse How It’s Implemented at the PML • Deictic Registers – I = SNe. PS term denoting Cassie – NOW = SNe. PS term denoting current time – YOU = SNe. PS term denoting conversational partner 15 April, 2004 S. C. Shapiro

alo @ cse f buf How It’s Implemented at the PML • Modality Registers – For current acts • Vision modality register – KL term of entity Cassie’s currently looking at 16 April, 2004 S. C. Shapiro

alo @ cse f buf How It’s Implemented at 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. 17 April, 2004 S. C. Shapiro

alo @ cse f buf Multi-Computer VR Agents KL SNe. PS terms PMLa deictic & modality registers primitive-action procedures PMLb IP Sockets PMLc SAL hardware drivers 18 April, 2004 S. C. Shapiro

alo f buf @ cse Body-Mind Feedback Most 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. 19 April, 2004 S. C. Shapiro

alo f buf @ cse 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. 20 April, 2004 S. C. Shapiro