alo uff b cse The GLAIR Cognitive Architecture

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alo uff b @ cse The GLAIR Cognitive Architecture Stuart C. Shapiro and Jonathan

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 [email protected] edu [email protected] edu

alo uff b @ cse Outline Ø Overview Integration of Acting and Reasoning Symbol

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:

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

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

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

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

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 &

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 –

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.

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

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

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

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,

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

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

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,

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

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

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

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

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

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

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

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

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

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

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