Cassie as a Self-Aware SNePS/GLAIR Agent

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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_at_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
Corner flag
Field
Drop-off zone
UXO
NonUXO object
Battery meter
Corner flag
Corner flag
Cassie
Recharging Station
Safe zone
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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 RobotfromiRobot
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GLAIR Architecture
Grounded Layered Architecture with Integrated
Reasoning
Knowledge Level
Mind
SNePS
Perceptuo-Motor Level
deictic modality registers primitive-action
procedures
B o d y
IP Sockets
NL
Sensory-Actuator Level
Vision
Sonar
World
Motion
Proprioception
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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)
• gt whendo(In(r), believe(Contains(r,p
  it)))).

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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 shes 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 Its 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 Its 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 Its Implementedat the PML

• Modality Registers
• For current acts
• Vision modality register
• KL term of entity Cassies currently looking at

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How Its 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 Agents
KL
SNePS terms
primitive-action procedures
PMLa
deictic modality registers
PMLb
IP Sockets
PMLc
SAL
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,
• dont yet have awareness of non-primitive
  acts.
• Put all this in architecture,
• so agent implementers neednt be concerned.