alo uff b cse The GLAIR Cognitive Architecture
alo uff b @ cse The GLAIR Cognitive Architecture Stuart C. Shapiro and Jonathan P. Bona Department of Computer Science & Engineering Center for Cognitive Science State University of New York at Buffalo shapiro@buffalo. edu jpbona@buffalo. edu
alo uff b @ cse Outline Ø Overview Integration of Acting and Reasoning Symbol Grounding BICA 2009 Shapiro & Bona 2
alo uff b @ cse Grounded Layered Architecture with Integrated Reasoning • Major Concern: – Knowledge Representation and Reasoning • Driving Motivation: – Natural Language Understanding & Generation • Additional Concern: – Agents that act • Question: – Where do beliefs come from? • Partial Answer: – Agent’s being embodied – Agent’s being situated in the world BICA 2009 Shapiro & Bona 3
alo uff b @ cse GLAIR Architecture Mind Body KL Independent of lower-body implementation PMLa PMLb I/P s o c k e t s Dependent on lower-body implementation PMLc Proprioception Speech Hearing SAL Vision Shapiro & Bona BICA 2009 Motion W O R L D 4
alo uff b @ cse Sensori-Actuator Layer • Sensor and effector controllers BICA 2009 Shapiro & Bona 5
alo uff b @ cse Perceptuo-Motor Layer • PMLa • PMLb • PMLc BICA 2009 Shapiro & Bona 6
alo uff b @ cse PMLc • Abstracts sensors & effectors • Body’s behavioral repertoire BICA 2009 Shapiro & Bona 7
alo uff b @ cse PMLb • Translation & Communication – Between PMLa & PMLc • Highest layer that knows body implementation BICA 2009 Shapiro & Bona 8
alo uff b @ cse PMLa • Grounds KL symbols – Perceptual structures – Implementation of primitive actions • Registers for Embodiment & Situatedness – Deictic Registers – Modality Registers BICA 2009 Shapiro & Bona 9
alo uff b @ cse • • • The Knowledge Layer Implemented in SNe. PS Agent’s Beliefs Representations of conceived of entities Semantic Memory Episodic Memory Quantified & conditional beliefs Plans for non-primitive acts Plans to achieve goals Beliefs re. preconditions & effects of acts Policies: Conditions for performing acts Self-knowledge Meta-knowledge BICA 2009 Shapiro & Bona 10
alo uff b @ cse Outline Overview Ø Integration of Acting and Reasoning Symbol Grounding BICA 2009 Shapiro & Bona 11
alo uff b @ cse SNe. PS • A KRR system • Every non-atomic expression is simultaneously – An expression of SNe. PS logic – An assertional frame – A propositional graph • Every SNe. PS expression is a term – Denoting a mental entity BICA 2009 Shapiro & Bona 12
alo uff b @ cse Ontology of Mental Entities • Entity – Proposition Agent can believe it or its negation Includes quantified & conditional beliefs – Act Agent can perform it – Policy Condition-act rule agent can adopt – Thing Other entities: individuals, categories, properties, etc. BICA 2009 Shapiro & Bona 13
alo uff b @ cse Policies Reasoning Acting • Forward Reasoning whendo(φ, α) wheneverdo(φ, α) • Backward Reasoning ifdo(φ, α) BICA 2009 Shapiro & Bona 14
alo uff b @ cse Types of Acts I • External Acts affect the environment supplied by agent designer • Mental Acts affect the knowledge layer believe, disbelieve adopt, unadopt • Control Acts sequence, selection, loop, etc. BICA 2009 Shapiro & Bona 15
alo uff b @ cse Types of Acts II • Primitive Acts Implemented in PMLa • Composite Acts Structured by control acts • Defined Acts Defined by Act. Plan(α, p) belief BICA 2009 Shapiro & Bona 16
alo uff b @ cse Acting Reasoning Control Acts snif({if(φ1, α 1), …, if(φn, αn), [else(δ)]}) sniterate({if(φ1, α 1), …, if(φn, αn), [else(δ)]}) withsome(x, φ(x), α(x), [δ]) withall(x, φ(x), α(x), [δ]) BICA 2009 Shapiro & Bona 17
alo uff b @ cse Goal Talk Goal. Plan(φ, p) achieve(φ) BICA 2009 Shapiro & Bona 18
alo uff b @ cse Behavior Cycle English (Statement, Question, Command) NL Analysis (New Belief) Answer NL Generation (Current) Set of Beliefs Reasoning Clarification Dialogue Looking in World Actions (Updated) Set of Beliefs Reasoning English sentence expressing new belief answering question reporting actions BICA 2009 Shapiro & Bona 19
alo uff b @ cse Outline Overview Integration of Acting and Reasoning Ø Symbol Grounding BICA 2009 Shapiro & Bona 20
alo uff b @ cse Entities, Terms, Symbols, Objects • Agent’s mental entity: a person named Stu • SNe. PS term: B 4 • Object in world: BICA 2009 Shapiro & Bona 21
alo uff b @ cse Alignment Mind (KL) KL term Body (PML/SAL) World BICA 2009 PML structure Object/Phenomenon Shapiro & Bona Action 22
alo uff b @ cse Deictic Registers For being situated in the world PML registers hold KL terms I term denoting agent YOU term denoting dialogue partner NOW term denoting current time BICA 2009 Shapiro & Bona 23
alo uff b @ cse Modality Registers For privileged first-person knowledge of what agent is doing Register for each modality holds KL term denoting act modality is engaged in BICA 2009 Shapiro & Bona 24
alo uff b @ cse Building Episodic Memory KL ! event e 1 time ! a 1 COUNT time event e 2 t 2 act agent time duration ! after before t 1 agent act PML ! b 1 q a 2 I n 0 BICA 2009 NOW hom ACT Shapiro & Bona 25
alo uff b @ cse For More Details See the Paper BICA 2009 Shapiro & Bona 26
alo uff b @ cse Collaborators Past and present members of SNe. RG: The SNe. PS Research Group http: //www. cse. buffalo. edu/sneps/ BICA 2009 Shapiro & Bona 27
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