Cassie as a Self-Aware SNePS/GLAIR Agent

Cassie as aSelf-Aware SNePS/GLAIR Agent Stuart C. Shapiro Department of Computer Science and Engineering, and Center for Cognitive Science University at Buffalo, The State University of New York 201 Bell Hall, Buffalo, NY 14260-2000 shapiro@cse.buffalo.edu http://www.cse.buffalo.edu/~shapiro/

What is it? • A computational cognitive agent that can: • Understand and communicate in English; • Discuss specific, generic, and “rule-like” information; • Reason; • Discuss acts and plans; • Sense; • Act; • Maintain a model of itself; • Remember and report what it has sensed and done. S. C. Shapiro

Cassie, the FEVAHR S. C. Shapiro

Simulated FEVAHR Cassie S. C. Shapiro

UXO Remediation Corner flag Field Drop-off zone UXO NonUXO object Battery meter Corner flag Corner flag Recharging Station Cassie Safe zone S. C. Shapiro

Crystal Cassie First Person Perspective Views S. C. Shapiro

Princess from “The Trial, The Trail” A VR drama by Josephine Anstey S. C. Shapiro

Patofil and Filopat S. C. Shapiro

Magellan ProTM Mobile RobotfromiRobot S. C. Shapiro

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

SNePS • A logic-based KR system • using reified propositions • with special constructs for acts • and an acting executive • as well as an inference engine • with an ATMS. • From a Wumpus World agent: • all(r)(Isa(r,room) => whendo(In(r), believe(~Contains(r,pit)))). S. C. Shapiro

Kinds of Self-Awarenessin Cassie • Static beliefs (non-fluents) about herself Knows and recognizes her name. • My name is `Cassie’. • Has first-person, privileged knowledge of , remembers, and can tell what she’s done. Has a sense of time, including “now”. Knows whom she is conversing with. • I talked to Bill and I am talking to you. • Has self-perception of what she says. S. C. Shapiro

Basic Approach toEssential Self-Awareness • Beliefs about self at KL (mind) inserted by PML (body). S. C. Shapiro

How It’s Implementedat the KL • SNePS term denoting Cassie • Used in all beliefs about herself. • SNePS terms denoting times • To relate acts/events • Representation of acts is the same • For acts to be done by Cassie • For acts done by Cassie • For acts done by other agents • For acting • For NL interaction S. C. Shapiro

How It’s Implementedat the PML • Deictic Registers • I = SNePS term denoting Cassie • NOW = SNePS term denoting current time • YOU = SNePS term denoting conversational partner S. C. Shapiro

How It’s Implementedat the PML • Modality Registers • For current acts • Vision modality register • KL term of entity Cassie’s currently looking at S. C. Shapiro

How It’s Implementedat the PML • Lisp implementation of KL primitive acts • Implementation of act a inserts KL belief that I did aNOW and moves NOW. = First person, privileged belief. S. C. Shapiro

Multi-Computer VR Agents KL SNePS terms primitive-action procedures PMLa deictic & modality registers PMLb IP Sockets PMLc SAL hardware drivers S. C. Shapiro

Body-Mind FeedbackMost Difficult Issue • When should mind move to next step of plan? • When sense that goal of previous step has been achieved. • For speech sequence: when hear self over self-perception socket. S. C. Shapiro

Next Steps • Since awareness of acting is added by implementation of primitive acts, don’t yet have awareness of non-primitive acts. • Put all this in architecture, so agent implementers needn’t be concerned. S. C. Shapiro

Cassie as a Self-Aware SNePS/GLAIR Agent