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Autonomous AI
Steve Hookway9/13/04
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Outline Constraining Autonomous Behavior
(3.1) Simple Techniques for Coordinated
Behavior (3.2) Synthetic Adversaries for Urban
Combat Training (Laird et al.)
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No One Lives Forever 2 UNITY agent Cate
Archer fights the H.A.R.M. Worldwide crime syndicate
Use a combination of stealth and brute force to work through each level
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No One Lives Forever 2 Excellent reviews for both game-play
and AIGames Domain (5/5) "NOLF 2 is extremely hard to fault. Its
presentation is top-notch, its levels are varied and interesting, its AI is convincing, and the whole game drips with love and attention to detail. In fact, it's hard to remember a single-player FPS we enjoyed this much since Deus Ex ... Any first-person shooter fan should consider this an essential purchase."
HomeLan Fed (94%) "one of the best single player first person shooter games ever made. With solid AI, great looking levels and graphics, fun weapons and gadgets, excellent voice acting, and a healthy dose of humor, A Spy In H.A.R.M’s way is much better than the original and that’s saying something"
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Ideal vs Actual Behavior Ideally completely autonomous AI
Goal based system Tagged objects
Realistically human behaviors need to be added Total autonomy does not necessarily
lead to believable behavior
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Human Characteristics Ownership Dependency Responsibility Relevance Priority State of
Consciousness Expected State Presence of Others
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Ownership Without constraint all objects of
interest are up for grabs Implement ownership by grouping
objects into sets Each character has his own set of
objects “Is this Object mine to use?”
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Dependency The use of one object depends on
the use of another object Washing hands after using bathroom
Can’t just make one inseparable behavior
Enable, disable objects for dependency
“Is there anything I need to do before using this object?”
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Responsibility Responsibility as a function of location
Keeps player from being overwhelmed by enemies
Responsibility as a function of the class of character Set which objects are available to be
used by that class of character “What is my purpose in life?”
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Relevance A minor character’s goals should
not have a major influence on the world!
Provide a ceiling to the amount of influence an AI character can have over their surroundings
“How will my actions affect the player’s experience?”
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Priority Character presented with multiple
opportunities simultaneously 3 categories of behavior
Aggressive > investigative > relaxed Relative priorities within categories “What is most important right
now?”
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State of Consciousness Alive, Sleeping, Unconscious, Dead Players emit stimuli depending on
state Can act according to previous or
current state “Am I awake?”
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Expected State Consciousness is an example of
general concept State Objects have associated state
Notice when an object is out of place Notice when a player or object’s state
has changed “Has anything changed?”
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Presence of Others Behavior depends on who is
present Characters need to take each
other into account “How will this action affect other
characters?”
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Outline Constraining Autonomous Behavior
(3.1) Simple Techniques for Coordinated
Behavior (3.2) Synthetic Adversaries for Urban
Combat Training (Laird et al.)
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Coordinate Behavior Split Up Get out of my way Get down What’s going on
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“Split Up” Agents are driven by same
logic and therefore behave in the same way upon receiving a stimulus
Same shortest path algorithm Nearby agents follow same
path Crowding!
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Split up cont. Path of waypoints to target Reservations
Shortest path as least costly path A node is not released until agent
completes path Reserve the node BEFORE the
destination Different paths give illusion of
coordination
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Pathfinding
E
A B
1
1
1
1
1
E
A B
1
1
1
1
50
Reserved
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Maximum Occupancy The pathfinding algorithm
works well in combat Firing range prevents crowding
When investigating, crowding becomes a problem First agent should reserve
object under investigation Other agents maintain distance
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Blackboard Communication Post and query public information Avoids overhead in adding data to
actual pathfinding data structures themselves
Makes code more maintainable
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A Record on the Blackboard
Struct BlackboardRecord{
BBRecordType eType;ObjectID idPoster;ObjectID idTarget;Int nData;
};
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The Blackboard …Class Cblackboard{public:
void PostBBRecord(BBRecordType eType, ObjectID idPoster, ObjectID idTarget, int nData);void RemoveBBRecord(BBRecordType eType, ObjectID idPoster);void RemoveAllBBRecords(BBRecordType eType);int CountBBRecords(BBRecordType eType, ObjectID idTarget);BlackboardRecord* GetBBRecord(BBRecordType eType, ObjectID idTarget);
protected:BlackboardRecord* m_aBBRecords[MAX_BB];
};
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Agent path planning Clear any previously reserved
volumes and reserve volume before destination:g_pBlackboard ->
RemoveBBRecord(kBB_ReservedVolume, myID);
g_pBlackboard -> PostBBRecord(kBB_ReservedVolume, myID, volumeID,NULL);
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Agent path planning cont. Check if volume is reserved and
apply cost penalty if it is
float fCost = pVolume -> fCost;if(g_pBlackboard-
>GetBBRecord(kBB_ReservedVolume, volumeID)
{fCost *= 50.f;
}
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“Get Out of My Way” It is inevitable that agents will get
in each other’s way Too much overhead to recalculate
optimal position Better to deal gracefully with
obstruction
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Get out of My Way cont. The obstructed agent can do
nothing The obstructed agent can fire
anyway, either killing or going through his ally
The obstructed agent can move The obstructed agent’s ally can
move
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Implementation Obviously options 3 and 4 are the
way to go Requests ally moves If ally is busy (reloading) agent
moves Leads to a dynamic environment
with everyone in motion looking for a clear shot
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Implementation cont. Previous method works well with
ranged weapons but not well with close-ranged melee weapons
Resort to KungFu style
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“Get Down!” Agents have a limited number of actions We don’t want all agents take same
action simultaneously Use blackboard to post actions
Agent posts action and time Before taking action agent checks to see if
ally has done same action within a threshold time
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“What’s Going On?” We don’t want agents to stand idol
while a nearby ally is taking damage
The same sensory system that detects enemies can be used to detect each other
When agent detects danger or takes damage, it emits a signal to any other agent in earshot
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Coordination
We have achieved simple coordination without the addition of a group behavior layer!
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Outline Constraining Autonomous Behavior
(3.1) Simple Techniques for Coordinated
Behavior (3.2) Synthetic Adversaries for Urban
Combat Training (Laird et al.)
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Synthetic Adversaries Virtual training of soldiers for
Military Operations on Urbanized Terrain (MOUT)
System based on a bot developed to play Quake
Uses Infiltration’s (UT’s) environment
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Requirements for Synthetic Adversaries
Competence Taskability Observational fidelity Behavior variability Transparency Minimal computational footprint
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Competence Must perform the actions and
behaviors humans perform in this domain
Many different roles Defending a room Sentry Acting as a leader
Focus on a small team interacting
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Competence Threat data structure
Used to maintain awareness about enemy
Building map data structure Mission object Operators are used to take action
in the world
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Taskability Must be able to be assigned new
missions and change objectives during an exercise
All agent knowledge is independent of the specific mission
MOUTBots can issue a limited amount of commands to change the mission of other bots
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Observational Fidelity Model human behavior only in
those aspects which can be observed
This is one place we can limit computational time
Subject to making the some “human errors”
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Behavior Variability Must not be predictable Allows for soldiers to train in the
same situation but experience a new encounter
Limits the amount of surprises in real life combat
Assign probability to each potential action
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Transparency Allow after action review by keeping
a record explaining actions Used an application specific
visualization tool to show what the agent believes the status of the map to be
Can look at an agent’s goal; “defend room” goal among agents active goals
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Minimal Computational Footprint
Targeted for personal computers Majority of processing reserved for
graphics and physics modeling Have been able to run as many as
20 bots in UT while keeping the game’s frame rate
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Conclusion Fully autonomous AI is a long way
off, but it is still possible to model human behavior
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BONUS MATERIAL
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Creature Smarts
Is it possible to build an artificial intelligence that’s as clever, as adaptive and as captivating as the average dog?C4 and Sheep|DogDuncan the Terrier
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Autonomous AI Build a creature that can interact
with each other and human participants
Self sufficient reasoning Learning Action Selection Goals
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System Architecture
World Model
Creature 1 Mental Rep
Creature 2 Mental Rep
Local Devices Networked Devices
Input Server
Renderers World State
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Cognitive Architecture
Sensory System
Perception System
Attention Selection
Action Selection
Navigation System
Motor System
Proprioceptive System
Action System
Object of Attention
Motor Desired
Motor Actual
Internal Blackboard
Working Memory
The World
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Sensory System Sensory honesty Input from world (creatures point
of view)
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Perception System Percept-perceive stimulus Classification hierarchy
Everything
Head Location
SoundWorld Location
Shape
Humanoid SheepUtterance
Down Sit Away
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Percept and Memory After classifying, hold onto
percepts and place like percepts together
Allows related events to be matched
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Why bother with percepts? Causes honest mistakes
Believable behavior Learning generalizable concepts
Find rules that apply to many objects Subjective experience
How stimulus is perceived depends on creature
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Action System Any representation of action
should answer the big 4 When to do it? What to do and how to do it? What to do it to? For how long?
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Action Tuples Trigger Context Action Object Context Do Until Context
Trigger Context
Action Object Context
DoUntilContext“Away”
Sound Percept
Circle Counterclockwi
se
Sheep Shape Percept
~15s, or circled flock
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Action Group Formed of similar action tuples Attention Group
Chooses creatures focus Primary Action Group
Determines large-scale body motion
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Learning in c4’s Action System Events perceived to have intrinsic
values on a nominal scale Eating a cookie has a high positive value Meeting a lion a large negative number
The actions that lead to these events become weighted (credit assignment) Learning reliable action pairs
Learning cannot happen without variation of action and state
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Navigation System Navigation overrides action system
Must move to achieve action Relieves action system from
handling movement Eat vs Approach and eat
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Motor System No such thing as just a walk cycle
Happy walk Sad walk And so on…
Simple gestures Locomotion Eye/head/body orientation
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Doing it in Style Parameterized motor actions
Different levels (heights of paw for shake)
Support new motor actions Characters increase in complexity
over time Create new animations “live”
Allow characters to learn new animations during their lives
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Pose Graph Action between poses Movement between poses
Gallop Walk Stalk
Skid Stand Beg
Shake Sit Crouch
Down
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Conclusions Strict enforcement of sensory honesty
Creature must make decisions based on percept of object, rather than knowledge of object state
Creatures must perceive each other and interact
Leads to a more realistic system of learning and honest mistakes