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The GLAIR Architecturefor Cognitive Robots
Stuart C. ShapiroDepartment of Computer Science & Engineering
and Center for Cognitive ScienceState University of New York at Buffalo
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GLAIR:Grounded Layered Architecture
with Integrated ReasoningFocus of This Talk:
ConnectingReasoning Mind
withActing/Sensing Body
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Motivations• Add acting and sensing to a reasoning agent.
– First person reasoning; on-line acting & sensing.• Layers
– Motivated by mind/body connections/distinctions.– Let same mind be plugged into different bodies.
• Embodiment– Origin of beliefs in sensation & proprioception.– First-person privileged knowledge of own body.
• Situatedness– Has a sense of where it is in the world.
• Symbol grounding– In body-layer structures.– Symbol as pivot between various modalities.
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Outline
Some GLAIR Robots, Hardware & VR
The Layers
Symbol Grounding
Putting it Together: Two examples
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Cassie, the FEVAHR(Foveal ExtraVehicular Activity Helper-Retriever)
PCAR2010 5[Supported by NASA, 1994-96]
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FEVAHR/Cassie in the Lab
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Patofil and Filopatfrom “The Trial, The Trail”
A VR drama by Josephine Anstey et al.
PCAR20107
[Artificial Intelligence and Interactive Digital Entertainment (AIIDE) 2005]
S. C. Shapiro
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[E-Poetry Symposium, Buffalo, NY, April 1, 2006]
The Trial The Trail& Human Trials
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Lights/Rats
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[365 Days/365 Plays by Suzan-Lori Parks, Week 24, Buffalo, NY, April, 26-27, 2007]
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Workers of the World
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[Buiffalo Infringement Festival, 2008Maker Faire, Travis County, TX, 2008]
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WoyUbu, “Robot War”
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[Buffalo, NY, March, 2009]
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Outline
Some GLAIR Robots, Hardware & VR
The Layers
Symbol Grounding
Putting it Together: Two examples
PCAR2010
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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
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PMLb
• Translation & Communication– Between PMLa & PMLc
• Highest layer that knows body implementation
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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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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, properties, times, etc.
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Outline
Some GLAIR Robots, Hardware & VR
The Layers
Symbol Grounding
Putting it Together: Two examples
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Entities, Terms, Symbols, Objects
• Agent’s mental entity: a person named Stu
• SNePS term: b4
• Object in world:
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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
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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
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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, m, holdsKL term denoting act that m is engaged in
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Outline
Some GLAIR Robots, Hardware & VR
The Layers
Symbol Grounding
Putting it Together: Two examples
PCAR2010
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<green, nil>
PML/SALKL
b20
b30
b6
<nil, robotic>
Isa
Prop
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m2
Find a green robot.
(find )
cassie
m75
m76
robbie
<green, robotic>
VISION
Language-Mind-World-Mind
WORLD
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Building Episodic Memory
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KL
PML
e1
I
a1 b1
m1!
t1 e2
a2
m2!
t2
m3!
NOW
COUNT n
hom0
qm4!
before afterevent eventtime
time
time
act act
agent
agent
duration
ACT
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Summary
• GLAIR is an architecture:– To connect mind and body
• For symbol grounding– To provide first-person privileged knowledge of
• The body• What it’s doing
– To provide situatedness in the world• Via deictic registers
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Some References• S. C. Shapiro & H. O. Ismail, Anchoring in a Grounded Layered
Architecture with Integrated Reasoning,, Robotics and Autonomous Systems 43, 2-3 (May 2003), 97-108.
• J. Anstey, S. Bay-Cheng, D. Pape, & S. C. Shapiro, Human trials: an experiment in intermedia performance, ACM Computers in Entertainment 5, 3, Article 4 (November 2007), 17 pages.
• J. Anstey, A. P. Seyed, S. Bay-Cheng, D. Pape, S. C. Shapiro, J. Bona, & S. Hibit, The Agent Takes The Stage, International Journal of Arts and Technology (IJART) 2, 4 (2009), 277-296.
• S. C. Shapiro & J. P. Bona, The GLAIR Cognitive Architecture, International Journal of Machine Consciousness, in press.
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Collaborators
Past and present members ofSNeRG: The SNePS Research Grouphttp://www.cse.buffalo.edu/sneps/
