the glair cognitive architecture and prospects for consciousness
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The GLAIR Cognitive Architecture and Prospects for Consciousness. Stuart C. Shapiro Department of Computer Science & Engineering and Center for Cognitive Science State University of New York at Buffalo [email protected]. Outline. Overview Integration of Acting and Reasoning - PowerPoint PPT PresentationTRANSCRIPT
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The GLAIR Cognitive Architectureand Prospects for Consciousness
Stuart C. ShapiroDepartment of Computer Science & Engineering
and Center for Cognitive ScienceState University of New York at Buffalo
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Outline
Overview
Integration of Acting and Reasoning
Symbol Grounding
Time
CSE 7192
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Cognitive Architecture
“A cognitive architecture specifies the underlying infrastructure for an intelligent system[, including] those aspects of a cognitive agent that are constant over time and across different application domains.”
[P. Langley, J. E. Laird, S. Rogers, Cognitive architectures: Research issues and challenges, Cognitive Systems Research 10 (2009) 141-160.]
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Grounded Layered Architecture with Integrated Reasoning
• Major Concern:– Knowledge Representation and Reasoning
• Driving Motivation:– Natural Language Understanding & Generation
• Additional Concern:– Agents that act
• Question:– Where do beliefs come from?
• Partial Answer:– Agent’s being embodied– Agent’s being situated in the world
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CSE 719 5
KL
PMLa
PMLb
PMLc
SAL
Mind
BodyIndependentof lower-body
implementation
Hearing
Vision
Motion
Speech WORLD
I/P s o c k e t s
GLAIR Architecture
Dependenton lower-bodyimplementation
Proprioception
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Sensori-Actuator Layer
• Sensor and effector controllers
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Perceptuo-Motor Layer
• PMLa• PMLb• PMLc
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PMLc
• Abstracts sensors & effectors• Body’s behavioral repertoire
CSE 7198
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PMLb
• Translation & Communication– Between PMLa & PMLc
• Highest layer that knows body implementation
CSE 7199
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PMLa• Grounds KL symbols
– Perceptual structures– Implementation of primitive actions
• Registers for Embodiment & Situatedness– Deictic Registers– Modality Registers
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The Knowledge Layer• Implemented in SNePS• Agent’s Beliefs• Representations of conceived of entities• Semantic Memory• Episodic Memory• Quantified & conditional beliefs• Plans for non-primitive acts• Plans to achieve goals• Beliefs re. preconditions & effects of acts• Policies: Conditions for performing acts• Self-knowledge• Meta-knowledge
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Outline
Overview
Integration of Acting and Reasoning
Symbol Grounding
Time
CSE 71912
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SNePS
• A KRR system• Every non-atomic expression is simultaneously
– An expression of SNePS logic– An assertional frame– A propositional graph
• Every SNePS expression is a term– Denoting a mental entity
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Ontology of Mental Entities• Entity
– PropositionAgent can believe it or its negationIncludes quantified & conditional beliefs
– ActAgent can perform it
– PolicyCondition-act rule agent can adopt
– ThingOther entities: individuals, categories, properties, etc.
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PoliciesReasoning Acting
• Forward Reasoningwhendo(φ, α)wheneverdo(φ, α)
• Backward Reasoningifdo(φ, α)
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Types of Acts I• External Acts
affect the environmentsupplied by agent designer
• Mental Actsaffect the knowledge layerbelieve, disbelieveadopt, unadopt
• Control Actssequence, selection, loop, etc.
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Types of Acts II
• Primitive ActsImplemented in PMLa
• Composite ActsStructured by control acts
• Defined ActsDefined by ActPlan(α, p) belief
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Acting ReasoningControl Acts
snif({if(φ1, α1), …, if(φn, αn), [else(δ)]})
sniterate({if(φ1, α1), …, if(φn, αn), [else(δ)]})
withsome(x, φ(x), α(x), [δ])
withall(x, φ(x), α(x), [δ])
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Goal Talk
GoalPlan(φ, p)
achieve(φ)
CSE 71919
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Behavior CycleEnglish
(Statement, Question, Command) (Current) Set of Beliefs
(Updated) Setof BeliefsActions(New Belief)
English sentence expressingnew belief answering question reporting actions
Answer
NL Analysis
NL Generation
ReasoningClarification DialogueLooking in World
Reasoning
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Outline
Overview
Integration of Acting and Reasoning
Symbol Grounding
Time
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FEVAHR/Cassie in the Lab
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Entities, Terms, Symbols, Objects
• Agent’s mental entity: a person named Stu
• SNePS term: b4
• Object in world:
23BICA 2009
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AlignmentMind (KL)
Body (PML/SAL)
World
KL term
PML structure
Object/Phenomenon Action
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World Objectsto Feature Tuples
<Height, Width, Texture, . . . >
WorldPML/SAL
S. C. ShapiroCSE 719
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Feature Tuplesto KL Terms
<Height, Width, Texture, . . . >
PML/SALKL
ProperName(b4, Stu)
Alignment
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Incomplete PML-Descriptions
<Height, nil, nil, . . . >
PML/SALKL
Height(b4, b12)
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Unifying PML-Descriptions
<x, nil, nil, ... >
PML/SALKL
b20
b30
b31
b6
<nil, y, nil, ... >
<nil, nil, z, ... >
<x, y, z, ... >
Isa
Prop
Prop
28CSE 719
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Deictic Registers
For being situated in the worldPML registers hold KL terms
I term denoting agentYOU term denoting dialogue partnerNOW term denoting current time
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Modality Registers
For privileged first-person knowledge of what agent is doing
Register for each modality holdsKL term denoting act modality is engaged in
CSE 71930
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Acting 1
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Acting 2
I found a red robot.I am looking at a red robot.
Follow a red robot.
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Acting 3
I went to a red robot.I am near a red robot.I am following a red robot.
I found a red robot.I am looking at a red robot.
Follow a red robot.
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Use of Indexicals 1
Come here.I found you.I am looking at you.
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Come here.
I came to you, Stu.I am near you.
Use of Indexicals 2
I found you.I am looking at you.
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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.
Use of Indexicals 3
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Come here.
I found you.I am looking at you.
Use of Indexicals 4
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Come here.
I came to you.I am near you.
I found you.I am looking at you.
Use of Indexicals 5
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Who am I?
I talked to Stuand I am talking to you.
Your name is ‘Bill’and you are a person.
Who are you?I am the FEVAHRand my name is ‘Cassie’.
Who have you talked to?
Use of Indexicals 6
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<green, nil>
PML/SALKL
b20
b30
b6
<nil, robotic>
Isa
Prop
40CSE 719
m2
Find a green robot.
(find )
cassie
m75
m76
robbie
<green, robotic>
VISION
Language-Mind-World-Mind
WORLD
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Outline
Overview
Integration of Acting and Reasoning
Symbol Grounding
Time
CSE 71941
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B6
Representation of Time
find
lex
action objectB1
!
agentact
eventtime
NOW
!!before after before after
????
????
????
?
I
CSE 71942
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Building Episodic Memory
CSE 719 S. C. Shapiro 43
KL
PML
e1
I
a1 b1
!
t1 e2
a2
!
t2
!
NOWCOUNT n
hom0
q!
before afterevent eventtime
time
time
act act
agent
agent
duration
ACT
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Performing a Punctual Actt1 t3!before after
NOW NOW
CSE 71944
t2!before after
!
time
event
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Performing a Durative Actt1
NOW
t3!
supintsubint
CSE 71945
NOW
!before after t2
!
time
event
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Aligning NOW using MTF
NOWSemi-lattice of times, all of which contain *NOW,any of which could be meant by “now”Finite---only conceptualized times of conceptualized states
Maximal Temporal Frame based on *NOW
KL
PML
CSE 71946
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Moving NOW with MTF
NOW
KL
PML
Moves when Cassie acts, newly observes a state,or is informed of a new state. Always includes times of states in modality registers.
CSE 71947
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Collaborators
Past and present members ofSNeRG: The SNePS Research Grouphttp://www.cse.buffalo.edu/sneps/