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The Role of Intelligent Robotics in Teaching A.I.

The Role of Intelligent Robotics in Teaching A.I. PACISE 2007 March 24 Mark M. Jones Oskars J. Rieksts. Overview. Motivation Reframing AI Main Areas of AI The Big 3 of Robotics Intelligent Mobile Agents – Issues AI Issues in Robotics Learning from Experience Conclusions. Motivation.

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The Role of Intelligent Robotics in Teaching A.I.

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  1. The Role of Intelligent Robotics in Teaching A.I. PACISE 2007 March 24 Mark M. Jones Oskars J. Rieksts

  2. Overview • Motivation • Reframing AI • Main Areas of AI • The Big 3 of Robotics • Intelligent Mobile Agents – Issues • AI Issues in Robotics • Learning from Experience • Conclusions Kutztown University

  3. Motivation • Fun – inherently interesting • Attract students to CS • Attract students to AI • Undergrad research opportunities Kutztown University

  4. Reframing A.I.{the textbooks} • Elaine Rich • Artificial Intelligence • Search, GPS, STRIPS • Russell & Norvig • A.I. : A Modern Approach • Intelligent agent • Robin Murphy • An Introduction to AI Robotics • Interactive applied A.I. Kutztown University

  5. The Main Areas of AI • Knowledge Representation • Inference and reasoning • Learning • Planning • Natural language processing • Search • Vision Kutztown University

  6. The Big 3 of Robotics • Sense • Plan • Act Kutztown University

  7. Intelligent Mobile Agents - Issues • Awareness • Autonomy • Mobility • Knowledge • Action • Control • Cooperation • Communication Kutztown University

  8. Awareness • Sensing • Situatedness • The world • Effect of actions • Self • Knowing • What • Where • How • When Kutztown University

  9. Autonomy • Purpose • Direction • Decision Kutztown University

  10. Mobility • Location • Change • Direction Kutztown University

  11. Action • Purpose • Planning • Decision • Behavior Kutztown University

  12. Control • Coordination • Timing • Knowledge Kutztown University

  13. Cooperation • Human-robot cooperation • Multi-robot cooperation • Conscious coordination • Emergent behavior Kutztown University

  14. Communication • Human-robot communication • Robot-robot communication • Sub-cognitive communication • Cognitive communication Kutztown University

  15. AI Issues in Robotics Spatial Cognition: A Case Study Kutztown University

  16. Spatial Cognition • Definition: • Cognitive functions that enable people to deal effectively with spatial relations, visual spatial tasks and orientation of objects in space. • One aspect of these cognitive skills is spatial orientation, which is the ability to orient oneself in space relative to objects and events; and the awareness of self-location (A.S. Reber, The Penguin Dictionary of Psycology). Kutztown University

  17. Early History • John Locke (1632 – 1704) • Essay on Human Understanding • Tabula rasa = blank slate • Sensations strike blank mind • Mental processes produce vision of the world • George Berkeley (1685 – 1753) • Essay Toward a New Theory of Vision • Explored relationship between sight and touch . . • and between ideas and the material world Kutztown University

  18. 20th Century • George M. Stratton (1865-1957) • Experiments with vision • Inversion of visual input (special goggles) • Visual system builds anew • Gregory: “perhaps the most famous experiment in the whole of experimental psychology” • The Spatial Harmony of Touch and Sight Kutztown University

  19. Stratton’s Experiment • Immediate consequence • Perceptual-motor coordination disrupted • Disparity between seen and thought to be • Restoration • Day 3 – “things interconnected into a whole” • Process – “piecing together parts of the ever-changing visual fields” • Visual system builds anew “growing from an isolated group of perceptions” • “correspondence, point by point, between touch and sight, is built up associationally” • Conclusion • by experience person learns “what visual position corresponds to any given tactual position” Kutztown University

  20. Cognitive Structuring • Rudolph Carnap • Der logische Aufbau der Welt • The Logical Structure of the World • Aufbau • building • setup • structure • superstructure • Structured artifact Kutztown University

  21. Issues in Spatial Cognition • Experiential Space • Ego-centric • Goal-oriented • Tight sensory-motor coupling • Minimal knowledge representation • Rodney Brooks • Intelligence without representation • Bickhard’s frog • Kirsh’s Earwig Kutztown University

  22. Issues in Spatial Cognition • Arkin, Murphy, et. al. • Cspace – configuration space • Path planning – plan, then act • A* search • Minimal conceptualization • Problems • Subgoal obsession • Lost opportunities • Oliver Sacks • The Man Who Mistook His Wife for a Hat Kutztown University

  23. Issues in Spatial Cognition • Benjamin Kuipers • Semantic Spatial Hierarchy • Artificial Intelligence, 1999 • Aspects • Models human cognitive map • Multiple interacting representations • Both • Qualitative • Quantitative • Multiple levels Kutztown University

  24. Spatial Semantic Hierarchy - Levels • Control level • Local geometric maps • Causal level • Behavior • States linked by actions • Topological level • External ontology • Places • Paths • Regions • Explain observed causal level patterns Kutztown University

  25. Issues in Spatial Cognition - Navigation • Foo, Warren, Tarr • Human spatial strategies • Task : learn novel shortcut • Metric cognitive map • Landmark-based navigation • Conclusions • Landmark-based predominates • Ants • 1st use survey knowledge . . • then switch • People do not Kutztown University

  26. Spatial Cognition – Study Centers • Transregional Collaborative Research Center • Spatial Cognition: Reasoning, Action, Interaction • Established by the Deutsche Forschungsgemeinschaft (DFG) • Universities of Bremen and Freiburg • Concerned with: • Knowledge about spatial environments • Acquisition • Organization • Utilization • Revision Kutztown University

  27. Spatial Cognition – Study Centers • Research Issues • Investigatin of human spatial cognition • Mobile robot navigation • Goal • Investigate cognitive foundations for human-centered spatial assistance systems. Kutztown University

  28. Spatial Cognition – Study Centers • Spatial Cognition Priority Program • Spatial behavior • Spatial inference • Spatial coding • Aspect maps • Ego space • Mental models • Robot navigation • Route knowledge/learning • Landmark usage Kutztown University

  29. AI Issues in Robotics • Awareness • Vision • Sensor interpretation • Knowledge acquisition • Learning • Autonomy • Cognitive basis • Planning • Decision Kutztown University

  30. AI Issues in Robotics • Mobility • Localization • Mapping • Spatial representation • Topological vs. metrical • Egocentric vs. allocentric • Semantic structure of space • Spatial reasoning • Experiential realization • Path Planning • Optimization Kutztown University

  31. AI Issues in Robotics • Knowledge • Knowledge representation • Knowledge acquisition • Learning • Metaknowledge • Action • Planning • Decision • Understanding • Causality • Consequences Kutztown University

  32. AI Issues in Robotics • Control • Control Paradigms • Supervisory • Reactive • Hybrid – deliberative/reactive • Role of autonomous control • Coordination • Sensing & acting • Timing Kutztown University

  33. AI Issues in Robotics • Cooperation • Awareness of others • Shared goals • Models of coordination • Supervisory • Teamwork • Unaware cooperation • Communication • Language • Understanding • Generation Kutztown University

  34. Sample ProjectsSimulated/Theoretical • Mapping • Path planning • Graph-based • Limo driver • Asymmetric TSP • Delivery robot • Emergent behavior – flocking • Simulator construction Kutztown University

  35. Sample Projects – Real World • From scratch • Roomba-based • RooTooth • On-board processor {API} • Create-based • Heat-seeking • Odor interpretation • Rehabilitative assistant • Robotics Tutorial - Robotut Kutztown University

  36. Learning from Experience • Simulators • OS issues • Library incompatibilities • Poor documentation • Wasted time • Hardware • Basic electronics • Component failure • Possible quagmire Kutztown University

  37. Key Lessons • Maintain • Primacy of theoretical • Clear goal • Find • Tested hardware • Good text • Texts • Murphy – AI Robotics • Arkin – Behavior-Based Robotics • Mataric – Create robot coursework Kutztown University

  38. Conclusions regarding Intelligent Robotics (IR) Kutztown University

  39. IR is AI-complete • Key AI issues central to IR • Examples discussed above • New Elsevier series – Foundations of Artificial Intelligence • Temporal reasoning • Knowledge representation • Autonomous systems and robots • Learning and vision • Spatial reasoning Kutztown University

  40. IR is CS-complete • Behavior-based  OOP • Interleaved control  OS • Interrupts • Job scheduling • Tractability  Algorithm D&S • Path planning  Search • Vision • Many other examples Kutztown University

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