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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/

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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.

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Cassie, the FEVAHR

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Simulated FEVAHR

Cassie

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UXO Remediation

CassieCorner flag

NonUXO object

Corner flag

UXO

Batterymeter

Corner flag

Drop-off zone

Field

Safe zone

RechargingStation

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Crystal Cassie

First Person Perspective Views

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Princess from “The Trial, The Trail”A VR drama by Josephine Anstey

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Patofil and Filopat

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Magellan ProTM Mobile Robotfrom

iRobot

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GLAIR Architecture

Knowledge Level

Perceptuo-Motor Level

Sensory-Actuator Level NL

Vision

Sonar

MotionProprioception

Grounded Layered Architecture with Integrated Reasoning

SNePSMind

Body

World

deictic & modality registers& primitive-action procedures IP Sockets

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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)))).

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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.

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Basic Approach toEssential Self-Awareness

• Beliefs about self at KL (mind)

inserted by PML (body).

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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

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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

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How It’s Implementedat the PML

• Modality Registers– For current acts

• Vision modality register– KL term of entity Cassie’s currently looking at

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How It’s Implementedat the PML

• Lisp implementation of KL primitive acts

• Implementation of act a inserts KL belief that

I did a NOW

and moves NOW.

= First person, privileged belief.

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Multi-Computer VR AgentsKL

PMLa

PMLb

PMLc

SAL

IP Sockets

SNePS terms

deictic & modality registersprimitive-action

procedures

hardware drivers

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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.

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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.