11/18/18

{par

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r m

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eau

@u

niv

-ub

s.fr

Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Marc Parenthoën,Jacques Tisseau,

Thierry Morineau.

Believable Decisionfor Virtual Actors

Laboratory of Software IngeneeringLi2, CERV/ENIB, BREST, FRANCE

Research Group in Informatics and CognitionGRESICO, UBS/IUP, VANNES, FRANCE

CERV

22/18/18

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Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Introduction : Root Ideas

Experimental Psychology

Cognitive Ergonomy : Affordances [Gibson_77]

Neurophysiology

Anticipation : Active Perception [Berthoz_97]

Cognition + Decision Theory

Tool :Fuzzy Cognitive Maps [Tolman_48+Kosko_86]

33/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Plan

Autonomous Virtual Actors

Believable Activity

Simulation in the Simulation

Autonomy, Behavioral Modeling

Affordances, Sensorimotor strategy

Active perception, Behavioral culture

44/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

virus

interaction

immersion

3D-movie

flight simulator

presence

video-game

0 1

1

autonomy

1

VR : History

virtual theatre

interactive fiction

in virtuo virtual reality

55/18/18

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ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Deficiencies sensorial motor mental

loss of autonomy

Abilities of perception of action of decision

Autonomy of execution

Towards Intrinsic Autonomous Models

66/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

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ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

FCM

++

-

specify behavior

Behavioral Modelingcloseenemy

farenemy

wish toescape

fear

-

+

+

perceptions

actions

deci

sion

sensors

effectors

1 ;,,1for , )1(),()( tNiNitatfGS

Nita t

Tt L

dyn

amic

s

fuzzyfication

defuzzyfication

Explicative Emotional Perceptive Predictive Adaptative

FCMs [Kosko86]

control movement Explicative Emotional Perceptive

77/18/18

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Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

autonomous virtual entity

perception

action

Reactive Virtual Actor

reaction

sensors

effectors

FCMs

perception

emotions

character

+1+0.9

-1

-

+

+

closeenemy

farenemy

wish toescape

fear

88/18/18

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Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Plan

Autonomous Virtual Actors

Believable Activity

Simulation in the Simulation

Affordances, Sensorimotor strategy

99/18/18

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ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

FCMs for Affordance Selection

LandmarkGyroscope Landmark

Trim

ObstacleJibe-Luff

ObstacleLuff

SpecificNo Surf

SpecificSurf

GatewayVMG

GatewayRestart

-1 -1

+1

+1 -1

-1

-1

-1 -1-1

-1

-1-1

-1

-1

-1

absolute value accessibility level = relative valueimplemented by fuzzy rules on sensors FCM extern activations

Sailing

interaction environment-tool-agent[Gibson_77]

1010/18/18

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ems

Man

and

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tics

Oct

ober

6-9

, 200

2, H

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amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Affordance Drives the Modality of Action

GatewayRestart

compasscrollrrollrtrimtcompasschelmboatv2

Sequence of sensorimotor configurations

Strategy of trajectory

to keep some state variables in bounding box sequence specifies main trajectory in state variables associated to perceptive strategy

1111/18/18

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Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Plan

Autonomous Virtual Actors

Believable Activity

Simulation in the Simulation

Active perception, Behavioral culture

1212/18/18

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Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Active Perception [Droulez & Berthoz 88]

sensorimotor inputs

effector command

operators on state

variables

inner maps operations

input switch

output switch

} proj

ectiv

e

}

con

serv

ativ

e

behaviormodification

comparisonreal/simulated

1313/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Simulation in the Simulation

Virtual World : Real for Agent

-0.5

+0.5 +0.6

+1 -1

+1

-0.5

+0.5 +0.6

+1 -1

+1 -0.5

+0.5 +0.6

+1 -1

+1

-0.5

+0.5 +0.6

+1 -1

+1

Imaginary World : Simulation

Adaptation

Predictions Using its Own Culture Strategy Choice

1414/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

autonomous virtual entity

perception

action

Predictive Virtual Actor

predictioninhibition

inhibition

proj

ecti

onst

rate

gy

reaction

sensors

effectors

FCMs

FCMs

self

-per

cept

ion

library of behaviors

perc

epti

on o

f ot

hers Prey

Predator

Fellow

behavioral model

simulation

sensorimotor strategy choice

implementation of active

perception

1515/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Prey prototype from library

Behavioral Prototype-Based Imitation

estimated sensors

estimated effectors

++

-

closeenemy

farenemy

wish toescape

fear

-

+

+0.6

predicted effectors

calling into question (crisp choice)

differential hebbian learning to update links

1616/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

autonomous virtual entity

perception

action

Active Perception for Action Learning

learning

com

pari

son

adap

tati

on

selection by active perception

modification

reaction

sensors

effectors

FCMspr

ojec

tion

stra

tegy

prediction

FCMs

self

-per

cept

ion

library of behaviors

perc

epti

on o

f ot

hers Prey

Predator

Friend

FCM

learning process

ImitationCharacterisationIdentification

inhibition

inhibition inhibition

inhibition

inhibition

inhibition

1717/18/18

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ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Plan

Autonomous Virtual Actors

Believable Activity

Simulation in the Simulation

1818/18/18

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Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Marc Parenthoën,Jacques Tisseau,

Thierry Morineau.

Believable Decisionfor Virtual Actors

Laboratory of Software IngeneeringLi2, CERV/ENIB, BREST, FRANCE

Research Group in Informatics and CognitionGRESICO, UBS/IUP, VANNES, FRANCE

CERV

Thank You.Questions ?

1919/18/18

{par

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s.fr

Syst

ems

Man

and

Cyb

erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

2C 2C

3C

4C

2C 2C

• using perceptions

Calling into Question for Learninig

appp

11

1

1

defu

zzyfi

catio

n

1C

jCjv3 possibilities with jv links toward jC

4jv

• for defuzzyfication

Proposed effector compaired with

estimated effector

appp

22

2

2

01p

12p

24p

23p

22p3

2p

• along paths and cycles in graph

42p

Source calling into question :

ppp : destination activation

: destination inactivation

: inaction

2020/18/18

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ems

Man

and

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tics

Oct

ober

6-9

, 200

2, H

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, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Prey-prototype from library Prey identified by imitation

Sheepdog Imagining a Stressed Sheep

2121/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

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amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Human and Virtual Helmsman

compasscrollrrollrtrimtcompasschelmboatv

2

• associated to each affordance

• part of strategy

• no HF strategy

2222/18/18

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ems

Man

and

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tics

Oct

ober

6-9

, 200

2, H

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amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Animation

what IS the model

Simulation

what doesthe model DO

ModelingWhat BECOMES of the model

Model

sense action

language

real time interactive

on line

Exploitation of Models

2323/18/18

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Man

and

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tics

Oct

ober

6-9

, 200

2, H

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amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Participative SimulationInteractive SimulationNumerical Simulation

model

slave/master

model

master/slave

actor

spectator

cre-actor

interactive simulationaction

real time animationsense

on line modellinglanguage

interactivity

0

1

2

User Status

model

avatar

equal/equal

2424/18/18

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Syst

ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

Multi-Agent Systems

Individual Centred Approach

Entities in interaction

if weak signal

1. Perception

2. Decision

3. Action

3 beat cycle :

Auto-organisationRobustness

Modularity, incrementality

2525/18/18

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ems

Man

and

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erne

tics

Oct

ober

6-9

, 200

2, H

amm

amat

, Tun

isia

sess

ion

MP

2R:

Vir

tual

Rea

lity

an

d A

pp

lica

tion

s II

VOWELS Agent Environment Interaction Organisation

“extended” VOWELS User

model

model

A E I O

avatar

avatar

U

Participative Multi-Agent Systems