artificial intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/ei.pdfartificial intelligence...
TRANSCRIPT
![Page 1: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/1.jpg)
Artificial Intelligence
Embodied Intelligence
(R. Brooks, MIT)
![Page 2: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/2.jpg)
2
Outline
• Key perspectives for thinking about how an
intelligent system interacts with world
• Compare mainstream AI to early artificial creature
approaches
– Derive number of morals from comparison
• Look at some simple animals to see how they
operate in their worlds
– Making comparisons to artificial creatures
![Page 3: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/3.jpg)
3
GOFAI(Good Old Fashioned AI)
• Traditional AI approach was/is
– Identify essence of something
– Study that, expecting to generalize back to full concept later
• Playing with blocks
– “Microworld”: the blocks world
– Ignores untidiness of real world
– Only the essence of building simple block towers is considered
• Everything represented in a logical calculus to describe a 2-D scene
• Blocks all same size, and perfectly aligned on top of each other
• Has perfect perception of world (no ambiguities)
![Page 4: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/4.jpg)
4
GOFAI(Good Old Fashioned AI)
• Standard type of problem in microworld
– Transform stacks of blocks in left scene to stack of blocks in right scene
– Input to planner might be goal situation
• (and (on A B) (on B C))
• Not the geometrical description that humans see/use
– Representations chosen are usually highly dependent on the problem to be solved
• Often constrains the types of problems to work on
B A
C
A
C
B
Initial situation Goal situation
![Page 5: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/5.jpg)
5
GOFAI(Good Old Fashioned AI)
• Large parts of AI devoted to recasting problems of intelligence in terms similar to simple blocks world descriptions
– Then finding ways to solve them
– This has not scaled well
• Microworlds were used to simplify the study of intelligence to manageable levels
– Implicitly assumes that intelligence is about problem solving (recall Minsky)
– The “essence” of intelligence in solving a puzzle omits lots of details not important to explicit statement of the puzzle
![Page 6: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/6.jpg)
6
An Alternate View
• Intelligence is all about making judgments when
there are large numbers of messy details all about
– Especially when no clear single best answer
• Analogy to Sherlock Holmes
– His strength was perceiving details others did not notice
– Perception was not abstract and distant
• At scene of crime, walked along getaway lanes, poked his head
into the pantry…
– Directly experienced what was there and where
![Page 7: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/7.jpg)
7
From an Evolutionary Perspective
• How was time spent within the 4.6 billion years of earth-based biological evolution?
– Single cell entities arose roughly 3.5 billion years ago
– A billion years passed before photosynthetic plants
– Fish and vertebrates arrived around 550 million years ago
– Insects at 450 million years ago
– Reptiles appeared 370 million years ago
– Dinosaurs at 330 million years ago
– Mammals at 250 million years ago
– First primates appeared 120 million years ago
– Predecessors of great apes at 18 million years ago
– Humankind around 2.5 million years ago
• Agriculture (19,000), writing (5,000), scientific knowledge (last few hundred years)
Slow
start
Things
now
move
fast
![Page 8: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/8.jpg)
8
Another Approach to Intelligence
• Consider the previous evolutionary
perspective
• Stick with messy detailed world
– Consider how a creature might get around and
survive in the world
– Evolution spent most of its time in this before
getting to us
![Page 9: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/9.jpg)
9
New AI: Embodied Intelligence• Key points
– Intelligent systems operate in a world that is
• Complex, uncertain, and not fully perceivable
– It carries out tasks involving perception and motion
• Must do some things to survive in world
• Not do solve problems built into it by researchers
– Artificial creature is embodied
• Effects of actions depend on state of external world
• External world influences perception of creature
– It must have internal drive to direct operations in world
• Hunger for electricity
• Reductionist approach to AI
– Shift from “solving problems” to “existing within a world and maintaining of goals”
![Page 10: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/10.jpg)
10
Embodied AI vs. GOFAI
• Traditional AI research keeps task difficulty
– Then tries to make environment complex
• Embodied AI research starts with most complex world ever to be encountered
– Then takes up challenge of task to perform in that environment
Traditional AI
starting regionEmbodied AI
starting region
Environment Complexity
Tas
k C
om
ple
xit
y
Target
![Page 11: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/11.jpg)
11
Braitenberg’s Vehicles
• Valentino Braitenberg
– Neuroscientist
– Wrote Vehicles: Experiments in Synthetic Psychology(1984)
• Series of fourteen “thought experiments” about building little vehicles to operate in the world
– Relates physical systems to concepts of psychology, cognition, and free will
• Each chapter discusses a different vehicle
– Increasing in sophistication
– Display increasingly life-like phenomena
• Eventually exhibit behavior like egotism and optimism
![Page 12: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/12.jpg)
12
The Vehicles• Braitenberg’s Vehicle 1
– One sensor connected to one actuator
• More stuff sensed makes it go faster
– Suppose
• Sensor measures temperature
• Actuator is little rocket engine, with force proportional to temperature
– Result
• In friction environment
– Go faster when warm, and slower when cold
– Can veer off straight path due to non-smooth world
• In frictionless environment (outer space)
– Vehicle never slows down (acceleration proportional to temperature)
– Proceeds in straight line
Sensor
Actuator
![Page 13: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/13.jpg)
13
Moral 1: Situatedness
The behavior of a vehicle, or creature,
depends on the environment in which it is
embedded or situated
![Page 14: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/14.jpg)
14
The Vehicles
• Braitenberg’s Vehicle 2
– Design
• Two actuators in laterally symmetric position
• Two sensors facing forward, symmetrically placed
– Comes in a number of types
• Depending on how sensors are connected to actuators
• When actuators apply same force, go straight ahead
• When right actuator apply more force than the left, vehicle veers left
00
![Page 15: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/15.jpg)
15
The Vehicles
• Vehicle 2.a
– Left sensor is connected to left
actuator
– Right sensor connected to right
actuator
– Suppose
• Sensors measure intensity of light
coming from source
• Actuators produce more force
(speed) when there is higher light
intensity level
00
![Page 16: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/16.jpg)
16
The Vehicles
• Result of Vehicle 2.a
– If right sensor closer to light
source than left sensor
• Right sensor gets more light
– Then right actuator drives
harder making it turn left and
away from light source
• Initial turning cause even
more turning
![Page 17: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/17.jpg)
17
The Vehicles
• Vehicle 2.b
– Crossed sensor/actuator connections
• Left sensor is connected to right actuator
• Right sensor connected to left actuator
– When light falling on right sensor more than falling on left sensor
• Left actuator produces higher force
• Causes vehicle to turn to right
– Towards the light
– As get closer to light, both actuators increase and vehicle accelerate toward light
• Eventually running right into it
![Page 18: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/18.jpg)
18
Moral 2: Embodiment
The actions of a creature are part of a dynamic with the world and have immediate feedback on the creature’s own sensations through direct physical coupling and its consequences
![Page 19: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/19.jpg)
19
Vehicle Behaviors
• Braitenberg describes vehicle behaviors in anthropomorphic terms
• From point of view of an observer
– Vehicles 2a and 2b both seem to dislike light sources
• Vehicle 2a is a coward (moves away from light source)
• Vehicle 2b is aggressive toward light sources (smashing into them at high velocity)
• There is nothing about like, dislike, or aggressionexplicitly built into the vehicles
– But observers do describe the behavior of the vehicles in those terms!
![Page 20: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/20.jpg)
20
Moral 3
Terms descriptive of behavior are in the eye
of the observer
![Page 21: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/21.jpg)
21
Other Vehicles
• Vehicles 3.a and 3.b
– Sensors inhibit the actuator
• The more of the sensed quantity, less force produced by actuator
– These vehicles slow down in vicinity of light source
– Steering is opposite to class 2 counterparts
• Vehicle 3.a (uncrossed wires)
– Tends to stay centered on light source until stop in front of light
• Vehicle 3.b (crossed wires)
– Tends to veer away from light source
– When eventually faces away from light source, then more influenced by rest of environment
• Once inhibition added to connection options, opens up possibility to build more behaviors
![Page 22: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/22.jpg)
22
Other Vehicles
• Vehicles 4.a
– Adds non-linear relationships to wires connecting sensors and actuators
– Leads to very complicated behavior in all sorts of environments
– But too complex to describe the behavior of the vehicles directly
– Instead use descriptive terms like instinct to describe particular action patterns
• The resulting behavior is generated by the totalityof the system
– Not by any one piece
![Page 23: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/23.jpg)
23
Moral 4: Emergence
The intelligence of the system emerges from the system’s interactions with the world and from sometimes indirect interactions between its components – it is sometimes hard to point to one event or place within the system and say that is why some external action was manifested
![Page 24: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/24.jpg)
24
Emergence
• Emergence is not a linear phenomena
– Behavior produced by the system is more than the sum of its parts
• We do not necessarily need to build an explicit behavior into the system itself
• More with vehicles
– In Vehicle 4.b, discontinuous connecting elements introduce thresholds into system
• Vehicles appear to reach decisions at times
– In Vehicle class 5, networks of non-linear elements are introduced
• Vehicles now have memory (more on this later…)
![Page 25: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/25.jpg)
25
Vehicles as Creatures
• Braitenberg devised artificial creatures (called
vehicles) that live in a world
• Braitenberg did not simplify the world to be clean
and neat
– Instead he describes how properties of world may effect
the behavior of his creations
• Starting from very simple creatures, Braitenberg
sketches out how one could proceed in bottom-up
manner to reach intelligence
![Page 26: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/26.jpg)
26
Autonomy
• An autonomous vehicle/creature
– Able to maintain long-term dynamic with
environment without intervention
– Once switched on, it does what is in its nature
to do
![Page 27: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/27.jpg)
27
Physical Artificial Creatures
• Tortoises Elmer and Elsie (1950)
– W. Grey Walter
– Design
• Two electric motor actuators
• Single bump sensor
• Light sensor
– Recharging hutch
– Explored environment with
complex behaviors
• “Remarkably unpredictable”
![Page 28: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/28.jpg)
28
From 1950 SciAm Article
Seeking light Reaction to obstacle
![Page 29: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/29.jpg)
29
Physical Artificial Creatures
MIT
![Page 30: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/30.jpg)
30
Other Robots
![Page 31: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/31.jpg)
31
Physical Non-Artificial Creatures
• Are artificial creatures anything (computationally) like real creatures?
• Animals
– Frogs
• “Bug detector”: respond to size and motion
– Pigeons
• Navigation: stars, sun, magnetic fields, olfactory, ultrasound
• Ranked sensors (layered), not sensor fusion
– Jumping spiders
• Responds to moving stimulus (prey, courtship)
– Bees
• Dance language for signaling location of food to others
• Seem to be implementable for artificial creatures
![Page 32: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/32.jpg)
32
Learning
• Simple connections can lead to complex (emergent) behavior
• Hard to predict which components/connections lead to specific behavior
• Given a desired behavior (or result), how do we figure out the proper set of connections?
– Machine learning!
– More later (after mid-term)
![Page 33: Artificial Intelligenceweb.cse.ohio-state.edu/~barker.348/cse3521_sp20/EI.pdfArtificial Intelligence Embodied Intelligence (R. Brooks, MIT) 2 Outline •Key perspectives for thinking](https://reader035.vdocuments.net/reader035/viewer/2022071503/61233029c6d9833246127f18/html5/thumbnails/33.jpg)
33
Summary
• Compared mainstream AI to early artificial
creature approaches
– GOFAI
• Braitenberg’s vehicles
• Looked at some simple animals to see how they
operate in their worlds
– Making comparisons to artificial creatures