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Erich Rome Robot Control Architectures Department

EU Project MACS Multi-sensory Autonomous Cognitive Systems Interacting with Dynamic Environments for Perceiving and Using Affordances. Cognitive Systems Kick-Off Meeting, Bled, Oct 28–30, 2004. Erich Rome Robot Control Architectures Department. MACS Project Overview. Sections MACS Facts

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Erich Rome Robot Control Architectures Department

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  1. EU Project MACSMulti-sensory Autonomous Cognitive Systems Interacting with Dynamic Environments for Perceiving and Using Affordances Cognitive Systems Kick-Off Meeting, Bled, Oct 28–30, 2004 Erich RomeRobot Control Architectures Department

  2. MACS Project Overview • Sections • MACS Facts • Affordance-based Robot Control • The Vision & the Key Objectives • Steps to Achieve the Objectives • The Key Milestones • Next Steps: Some Details

  3. a. MACS: Facts • Project type: STReP • Grant no.: FP6-004381 • Project start: September 1, 2004 • Duration: 3 years • Kick-off meeting: Sankt Augustin, September 9–10, 2004 • Web site: www.macs-eu.org • Consortium: 5 participants

  4. a. MACS: Facts • Participants and Competences • 1 FhG/AIS (Coord.) Fraunhofer Institute for Autonomous Intelligent Systems, Sankt Augustin, D • Erich Rome Robot control architectures, robot & sensors & autonomous systems design, biologically inspired robot vision • 2 JR_DIB JOANNEUM RESEARCH Forschungsgesellschaft mbH, Graz, A • Lucas Paletta Computer vision, ANN-based sensorimotor learning, mobile mapping • 3 LiU-IDA Linköpings Universitet, AI & Integrated Computer Systems Division, S • Patrick Doherty Autonomous systems, knowledge representation, AI planning • 4 METU-KOVAN Middle East Technical University, Ankara, TR • Erol Sahin Evolutionary & swarm robotics, physics-based modelling & simulation, distributed computing environments • 5 OFAI Österreichische Studiengesellschaft für Kybernetik, Vienna, A • Georg Dorffner Cognitive modelling & neuroscience, symbol grounding, AI learning

  5. b. MACS: Affordance-based Robot Control • Some Objectives of the Cognitive Systems Call: • To construct embodied systems that can perceive, understand, and interact with their environment while performing goal-directed tasks. • Methodologies for the construction of robust and adaptive cognitive systems integrating perception, reasoning, representation and learning.

  6. b. MACS: Affordance-based Robot Control • The MACS Claim: • The use of affordances in control architectures may link perception, action, learning and reasoning in a new way. • Perceiving the world in terms of affordances will provide a paradigmaticchange in the architecture of embedded cognitive systems by helping to structure perception and reasoning in both an action-oriented and goal-directed way.

  7. b. MACS: Affordance-based Robot Control • Affordances: • Notion created by cognitive psychologist J. J. Gibson (1979): • „An affordance is a resource or support that the environment offers an agent for action. • The agent must possess the capabilities to perceive and act upon it.“

  8. b. MACS: Affordance-based Robot Control • Examples of Affordances: throw use as tool Place to look for prey hide, climb

  9. b. MACS: Affordance-based Robot Control • Affordances (1): • Affordances can be put in terms of abstract properties:throwable -> fist-sized dense object of certain weight rangesittable upon -> knee-high flat stable horizontal surface of certain minimum size • Affordances depend particularly on the agent’s propertieslike body size, weight, form, and its perception and action capabilities

  10. b. MACS: Affordance-based Robot Control • Affordances (2): • Object identity is just another property, not necessarily the most important one – Its importance is goal dependent • The abilities to perceive and act upon affordances may be acquired by learning – by experimentation and observation • Acting upon affordances may require episodic knowledge:The sequence of actions required to act upon the affordance of a cup of coffee to drink from

  11. b. MACS: Affordance-based Robot Control • Affordances (3): • Selection of affordances depends on high-level goals • Goals influence perception of affordances • We do not get flooded by thousands of affordances • Affordances comprise a functional view of environment • Affordances are suited to structure the perceptual inputfor action and reasoning • Link for perception, action, reasoning and learning

  12. b. MACS: Affordance-based Robot Control • Some implications for adaptivity: • Affordances would allow greater flexibility in manipulation tasks: If a searched object for a manipulation is not available, therobot may look for another one with the same affordancesand act upon the substitute instead. • Such an ability would be especially helpful in complex environments with significant dynamics.

  13. c. MACS: The Vision • The Vision: • Affordance-based control as a new paradigm to better link perception, action, reasoning and learning, suited to advance the further development of embodied cognitive systems.

  14. c. MACS: The Key Objectives • Main objective of MACS: • Explore and exploit the concept of affordances for the design and implementation of autonomous mobile robots • Develop affordance-based control as a method for robotics • Provide a new way for reasoning and learning to connect with reactive robot control

  15. c. MACS: The Key Objectives • 5 scientific & technological objectives • plus • 1 dissemination objective

  16. c. MACS: The Key Objectives • Scientific and technological objectives: • A radically new robot control architecture, implementing affordance-based control • Affordance-based control changes deeply the flow of information as well as the required processes • Use of affordances in control architectures is no emergent phenomenon, • cannot be added on top of an existing control architecture, • needs to be considered in the basic design. • An affordance-based architecture will be proposed, tested and evaluated. • Affordances will be integrated into perception, action and learning.

  17. c. MACS: The Key Objectives • Scientific and technological objectives: • Grounded and goal-directed perception of affordances • • Affordances spring off perception on a low level, associating salient perceptual features tothe representation of what an object affords. • • What can or should be perceived and used as an affordance depends on the sensors and actuators that the robot has. • • Filtering mechanism to prevent the robot from drowning in affordances needs to be in effect deep down in the process of affordance perception. • • It has to be influenced from high-level goal-orientation or attention modes preventing currently irrelevant affordances from distracting the controller.

  18. c. MACS: The Key Objectives • Scientific and technological objectives: • Explicit affordance representations for different granularity levels • Using affordances for reasoning and symbolic learning requires an explicit representation • Representation includes perception and action side of an affordance plus • episodic knowledge and • expectations about feed-back from the environment when acting upon an affordance.

  19. c. MACS: The Key Objectives • Scientific and technological objectives: • Learning affordances by experimentation or by observation • Affordances are individual on sensoric, physical, and experience level • A natural way of getting at affordances is learning • Learning by individual experimentation or by imitation. • Suitable learning methods will be developed • Extreme option of teaching: programming • Will be used for higher-level, complex or abstract affordances

  20. c. MACS: The Key Objectives • Scientific and technological objectives: • Integrated demonstrator on an autonomous mobile robot • Results will be demonstrated in integrated form • Mobile robot: able to navigate and do simple manipulation tasks • Wide range of perceptions through multi-modal sensor configuration including vision and a 3D Laser scanner • Robot control: plan-based to provide goal-directed behaviour

  21. c. MACS: The Key Objectives • Dissemination objective: • Make the different involved scientific communities, possible appliers of the results, and the interested general public aware of the respective MACS achievements

  22. d. MACS: Steps to Achieve the Objectives • Workpackages: • WP0 – Management (13+6 PM) • WP1 – Infrastructure (39+4 PM) • WP2 – Affordance-based Control Architecture (57+6 PM) • WP3 – Perception of Affordances (76+2 PM) • WP4 – Representation of Affordances (42+4 PM) • WP5 – Learning of Affordances (47+4 PM) • WP6 – Proof of Concept & Dissemination (38+4 PM)

  23. Affordance-based Robot Control Reference Implementations Module Prototypes Integration & Simulation Demonstrator Specifications Surveys 4 7 12 18 24 30 33 M1 M2 M3 M4 M5 M6 M7 e. MACS: The Key Milestones month

  24. f. MACS: Next Steps • Physical demonstrator • KURT2 (with 3D Laser scanner) • Commercial platform for research & education • Developed initially at FhG/AIS,Produced & distributed by KTO • 3D Scanner developed and assembledat FhG/AIS, • Simple gripper under construction

  25. f. MACS: Next Steps • Next steps: • Publish evaluation of state of the art in affordance-related research • Specify a demonstrator scenario • Design missions and tasks that the affordance-based robot should accomplish in the demonstrator scenario • Specify requirements for perception, representation and learning of affordances as well as for reasoning about and acting upon affordances • Later:Publish benchmark problems suited to demonstrate the power and limitations of the approach

  26. f. MACS: Next Steps • Next step towards dissemination: • Application for a Dagstuhl seminar “Towards Affordance-based Robot Control” • International conference and research center for computer science • Schloss Dagstuhl in Wadern (close to Saarbrücken, Germany) • Dagstuhl-Seminars: gatherings of 35–45 scientists working for a week on a specific computer science related topic with interdisciplinary aspects • International participants: established researchers and promising young scientists

  27. f. MACS: Next Steps • Dagstuhl seminar details: • Organizers: Erich Rome, Patrick Doherty, Georg Dorffner, Joachim HertzbergDeadline: Nov 15, 2004Seminar: 5 days in 1st half of 2006 • Preliminary list of potential participants; may be updated and extended when application succeeds • Participation interests can be expressed via email (rome@ais.fraunhofer.de)(preferably non-German female young researchers) • Participation fee (150 €) also covers accommodation and foodTravel expenses are not covered • Young researchers may apply for grants covering travel expensesInformation available at: http://www.dagstuhl.de/HLSC/

  28. Thank you for your attention

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