a cognitive map for an artificial agent
DESCRIPTION
A Cognitive Map for an Artificial Agent. Unmesh Kurup RPI [email protected] B. Chandrasekaran The Ohio State University [email protected]. Overview. Cognitive map Features Goals biSoar architecture Cognitive Map in biSoar Examples. Cognitive Map. Cognitive Map. - PowerPoint PPT PresentationTRANSCRIPT
A Cognitive Map for an Artificial Agent
Unmesh KurupRPI
B. ChandrasekaranThe Ohio State University
Overview
• Cognitive map – Features– Goals
• biSoar architecture– Cognitive Map in biSoar– Examples
Cognitive Map
Cognitive Map
• Representation of large-scale space
Cognitive Map
• Representation of large-scale space– Layout of a city
Cognitive Map
• Representation of large-scale space– Layout of a city or a building
Cognitive Map
• Representation of large-scale space– Layout of a city or a building
• Supports a number of problem solving tasks.
Cognitive Map
• Representation of large-scale space– Layout of a city or a building
• Supports a number of problem solving tasks.– Route-finding: How can I get to the Radisson from
here? • Exit the hotel, Take a left, Right at 23rd St, Right on Clark.
Cognitive Map
• Representation of large-scale space– Layout of a city or a building
• Supports a number of problem solving tasks.– Geo Recall: Is your hotel to the west of this hotel?
Cognitive Map
• Representation of large-scale space– Layout of a city or a building
• Supports a number of problem solving tasks.– Finding shortcuts: Is there a shorter way to my
hotel?• Possible: Take a right on 20th st.
Features of the Cognitive Map
Features of the Cognitive Map
• Non-holistic
Features of the Cognitive Map
• Non-holistic
If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St
If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark.
Features of the Cognitive Map
• Non-holistic– manageable
Features of the Cognitive Map
• Non-holistic– Manageable
Features of the Cognitive Map
• Non-holistic– Manageable
If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St
If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark.
If you take a right on Clark you will get to your hotel
vs
Features of the Cognitive Map
• Non-holistic– Manageable, updateable,
Features of the Cognitive Map
• Non-holistic– Manageable, updateable,
If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St
If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark.
If you take a right on Clark you will get to your hotel
If you take a right on 20th St, you will get to the intersection of 20th St and Clark.
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Features of the Cognitive Map
• Non-holistic– Manageable, updateable, composable
Features of the Cognitive Map
• Non-holistic– Manageable, updateable, composable
If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St
If you take a right on 20th St, you will get to the intersection of 20th St and Clark.
If you take a right on Clark you will get to your hotel
Features of the Cognitive Map
• Non-holistic– Manageable, updateable, composable
• Has both symbolic and metric aspects
Features of the Cognitive Map
• Non-holistic– Manageable, updateable, composable
• Has both symbolic and metric aspects
If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St
Goals
• Capture features– A non–holistic representation with both
symbolic and metric aspects
Goals
• Capture features– A non–holistic representation with both
symbolic and metric aspects
• Cognitive architecture approach
biSoar
A Bimodal Cognitive Architecture
biSoar
• Soar + Diagrammatic Representation System (DRS)
DRS - Diagrammatic Representation System (Chandra et. al. 2004)
• Diagrams consist of three types of objects – Points, Curves & Regions.
DRS - Diagrammatic Representation System (Chandra et. al. 2004)
• Perceptual routines allow extraction of relationships between objects in the diagram.– Ex: LeftOf, RightOf etc
• Action routines allow the diagram to be modified– AddPoint, AddCurve etc
biSoar
C
B
A
Symbolic component:Block (A), Block (B), Block (C), On (A,B), On (B,C)
Selected Operator: None
Working Memory
Diagrammatic component
Soar WM DRS
World
Working Memory:
Block (A), Block (B), Block (C), On (A,B), On (B,C)
Selected Operator: None
biSoar
Soar
LTM and Learning in biSoar
• No change to LHS of LTM rules in biSoar• RHS can extract information from or modify
diagrammatic component as well.– If a and b are clear and goal is on(a,b) then
translate(a on b)
• Chunking in the bimodal case is straightforward.
biSoar
• Soar + Diagrammatic Representation System (DRS)
• biSoar does not do– Any sort of image processing– Object recognition
• Assumes– a diagrammatic representation (DRS form) of
the input is available.
Representing LSS in biSoar
If goal is find_next_location and curr location is x and traveling in direction Dx on route Rx, then
destination is location y, diagram is DRSx
Representing LSS in biSoar
If goal is find_next_location and curr location is A and traveling in direction Dx on route Rx, then
destination is location B, diagram is DRSx
If goal is find_next_location and curr location is R2R5 and traveling Right on Route R2, then destination is P2, diagram is DRS1
R1
R2
R3
R4 R5
Examples – Route-finding
• Given a map, find route from P1 to P2Route-finding Strategy• locate the starting & destination locations
in the map• make the starting location the current
location• Find the routes on which the current
location lies• For each route, find the directions of travel• for each route and direction of travel, find
the next location • calculate the Euclidean distance between
these new locations and the destinations• pick the location that is closest to the
destination and make that the current point
• repeat 3-8 until destination is reached
Learning while route-finding
Example rules learned during wayfinding
Within-task transfer
• Task1 – P1 to R3R5
R1
R2
R3
R4 R5
Within-task transfer
• Task1 – P1 to R3R5, Task2 – P4 to P2
R1
R2
R3
R4 R5
Within-task transfer
• Task1 – P1 to R3R5, Task2 – P4 to P2• New route-finding task – P4 to R3R5
R1
R2
R3
R4 R5
Between-task transfer
• Geographic Recall problem• What’s the spatial relation between R1R3 and
R3R5?
Finding short-cuts
R1
R4
R2
R3
If goal is find_routes and at R2R5 then there is a route r5 in the up direction.
Finding short-cuts
R1
R4
R2
R3
If goal is find_routes and at R2R5 then there is a route r5 in the up direction.
Find route from P2 to P5
Finding short-cuts
R1
R2R5
R3
R4
R2
R3
If goal is find_routes and at R2R5 then there is a route r5 in the up direction.
Find route from P2 to P5
Conclusion
• biSoar’s CM (representation of LSS)– Is non-holistic– has metric and non-metric information– Can be used to solve a variety of tasks
involving LSS.– Supports learning and transfer of learned
information within and between tasks.
Thanks!