marc parenthoën, jacques tisseau, thierry morineau
DESCRIPTION
CERV. Laboratory of Software Ingeneering Li2, CERV/ENIB, BREST, FRANCE. Research Group in Informatics and Cognition GRESICO, UBS/IUP, VANNES, FRANCE. Believable Decision for Virtual Actors. Marc Parenthoën, Jacques Tisseau, Thierry Morineau. Experimental Psychology. - PowerPoint PPT PresentationTRANSCRIPT
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11/18/18
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Syst
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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
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22/18/18
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Syst
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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
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lity
an
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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]
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33/18/18
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Syst
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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
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44/18/18
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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
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55/18/18
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Syst
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Man
and
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tics
Oct
ober
6-9
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2, H
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, Tun
isia
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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
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66/18/18
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Man
and
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Oct
ober
6-9
, 200
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, Tun
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ion
MP
2R:
Vir
tual
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lity
an
d A
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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
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77/18/18
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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
Reactive Virtual Actor
reaction
sensors
effectors
FCMs
perception
emotions
character
+1+0.9
-1
-
+
+
closeenemy
farenemy
wish toescape
fear
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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
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99/18/18
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Man
and
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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]
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1010/18/18
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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
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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
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1212/18/18
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Oct
ober
6-9
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, 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
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1313/18/18
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and
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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
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1414/18/18
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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
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
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1515/18/18
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and
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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
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1616/18/18
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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
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1717/18/18
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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
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1818/18/18
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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 ?
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1919/18/18
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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
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
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2020/18/18
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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 Prey identified by imitation
Sheepdog Imagining a Stressed Sheep
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2121/18/18
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Oct
ober
6-9
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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
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2222/18/18
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and
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Oct
ober
6-9
, 200
2, H
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amat
, Tun
isia
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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
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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
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2424/18/18
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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
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
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2525/18/18
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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