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Symbol Anchoring in a Grounded Layered Architecture with Integrated Reasoning

Symbol Anchoring in a Grounded Layered Architecture with Integrated Reasoning. Stuart C. Shapiro Department of Computer Science and Engineering and Center for Cognitive Science University at Buffalo shapiro@cse.buffalo.edu. Based on.

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Symbol Anchoring in a Grounded Layered Architecture with Integrated Reasoning

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  1. Symbol Anchoring in aGrounded Layered Architecturewith Integrated Reasoning Stuart C. Shapiro Department of Computer Science and Engineering and Center for Cognitive Science University at Buffalo shapiro@cse.buffalo.edu S.C. Shapiro

  2. Based on Stuart C. Shapiro & Haythem O. Ismail, “Anchoring in a grounded layered architecture with integrated reasoning,” Robotics and Autonomous Systems 43, 2-3 (May 2003) 97-108. S.C. Shapiro

  3. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  4. Definition “Anchoring is the problem of connecting, inside an artificial system, symbols and sensor data that refer to the same physical objects in the external world.” [Silvia Coradeschi & Alessandro Saffiotti] S.C. Shapiro

  5. Embodied Cassie • A computational cognitive agent • Embodied in hardware • or Software-Simulated • Based on SNePS and GLAIR. S.C. Shapiro

  6. Cassie, the FEVAHR(Foveal ExtraVehicular Activity Helper-Retriever) S.C. Shapiro

  7. FEVAHR/Cassie in the Lab S.C. Shapiro

  8. Crystal Cassie First Person Perspective Views S.C. Shapiro

  9. Patofil and Filopatfrom “The Trial, The Trail” A VR drama by Josephine Anstey et al. S.C. Shapiro

  10. DeliveryAgent Using Byron Weber Becker’s Java version of Rich Pattis’ Karel the Robot S.C. Shapiro

  11. Magellan ProTM Mobile RobotfromiRobot S.C. Shapiro

  12. SNePS • Knowledge Representation and Reasoning • Intensional Representation • Propositions as Terms • SNIP: SNePS Inference Package • Specialized connectives and quantifiers • SNeBR: SNePS Belief Revision • SNeRE: SNePS Rational Engine (Acting Language) • Interface Languages • SNePSUL: Lisp-Like • SNePSLOG: Logic-Like • GATN for Fragments of English. S.C. Shapiro

  13. Interaction with Cassie (Current) Set of Beliefs [SNePS] English (Statement, Question, Command) Reasoning Clarification Dialogue Looking in World GATN Parser (Updated) Set of Beliefs [SNePS] (New Belief) [SNePS] Answer [SNIP] Actions [SNeRE] GATN Generator Reasoning English sentence expressing new belief answering question reporting actions S.C. Shapiro

  14. Entities, Terms, Symbols, Objects • Cassie’s mental entity: a person named Stu • SNePS term: B4 • Object in world: S.C. Shapiro

  15. GLAIR Architecture Grounded Layered Architecture with Integrated Reasoning Knowledge Level Mind SNePS Perceptuo-Motor Level IP Sockets B o d y NL Sensory-Actuator Level Vision Sonar World Proprioception Motion S.C. Shapiro

  16. Alignment KL SNePS term PML structure Body (PML/SAL) World Object/Phenomenon Action S.C. Shapiro

  17. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  18. World Objectsto Feature Tuples PML/SAL World <Height, Width, Texture, . . . > S.C. Shapiro

  19. Feature Tuplesto KL Terms KL PML/SAL ProperName(B4, Stu) <Height, Width, Texture, . . . > Alignment S.C. Shapiro

  20. Incomplete PML-Descriptions KL PML/SAL Height(B4, B12) <Height, nil, nil, . . . > S.C. Shapiro

  21. Unifying PML-Descriptions PML/SAL KL <x, nil, nil, ... > B20 <nil, y, nil, ... > B30 Prop Isa <nil, nil, z, ... > B31 Prop <x, y, z, ... > B6 S.C. Shapiro

  22. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  23. Deictic & Modality Registersfor being situated in the world KL Terms denoting PML Cassie Addressee Current time Current state(s) of looking at x . . . I You Now Vision . . . S.C. Shapiro

  24. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  25. Primitive Actions Alignedwith PML/SAL Functions KL PML SAL World Find(B4) M2(B4) <... > Modality Registers A KL symbol is a pivot coordinating different modalities. S.C. Shapiro

  26. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  27. Aligning NOW using MTF Maximal Temporal Frame based on *NOW KL PML NOW Semi-lattice of times, all of which contain *NOW, any of which could be meant by “now” Finite---only conceptualized times of conceptualized states S.C. Shapiro

  28. Moving NOW with MTF KL NOW PML Moves when Cassie acts, newly observes a state, or is informed of a new state. Always includes times of states in modality registers. S.C. Shapiro

  29. ! duration time before after ! Providing a Feel for Time q t1 t2 KL PML hom COUNT n NOW 0 S.C. Shapiro

  30. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  31. Aligning Lexemes/NL KL PML/SAL World ProperName(B4, Stu) npr ctgy “Stu” Isa(B4, person) n ctgy “person” sing num Grammar NL S.C. Shapiro

  32. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  33. Acting 1 S.C. Shapiro

  34. Acting 2 Follow a red robot. I found a red robot. I am looking at a red robot. S.C. Shapiro

  35. Acting 3 Follow a red robot. I found a red robot. I am looking at a red robot. I went to a red robot. I am near a red robot. I am following a red robot. S.C. Shapiro

  36. Use of Indexicals 1 Come here. I found you. I am looking at you. S.C. Shapiro

  37. Use of Indexicals 2 Come here. I found you. I am looking at you. I came to you, Stu. I am near you. S.C. Shapiro

  38. Use of Indexicals 3 Who am I? Your name is ‘Stu’ and you are a person. Who have you talked to? I am talking to you. Talk to Bill. I am talking to you, Bill. Come here. S.C. Shapiro

  39. Use of Indexicals 4 Come here. I found you. I am looking at you. S.C. Shapiro

  40. Use of Indexicals 5 Come here. I found you. I am looking at you. I came to you. I am near you. S.C. Shapiro

  41. Use of Indexicals 6 Who am I? Your name is ‘Bill’ and you are a person. Who are you? I am the FEVAHR and my name is ‘Cassie’. Who have you talked to? I talked to Stu and I am talking to you. S.C. Shapiro

  42. Outline • Introduction • Perceivable entities and properties • Attentional Structures • Actions • Time • Language • Examples • Summary S.C. Shapiro

  43. Summary • KL terms denote mental entities. • KL terms aligned to PML structures. • PML variables/registers contain KL terms. • PML variables/registers/structures grounded in world via sensors & effectors. • PML attentional structures anchor symbols by changing only when motivated. S.C. Shapiro

  44. Summary from Jackendoff Ray Jackendoff, Foundations of Language, Oxford University Press, 2002, Fig. 11.1, p. 348. (Independent work) S.C. Shapiro

  45. For More Information • Personnel • Manual • Tutorial • Bibliography • ftp’able SNePS source code • etc. • http://www.cse.buffalo.edu/sneps/ S.C. Shapiro

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