Toward a Design for Teaching Cognitive Robotics

1. Toward a Design for Teaching Cognitive Robotics Matthew D. Tothero Oskars J. Rieksts February 23, 2016

2. Criteria • Embodied cognition • Agent-principal paradigm • Clear ontology • Clear epistemology • Concepts supporting agent-principal interaction Kutztown University

3. Embodied Cognition • Perceive • Conceive • Believe • Achieve Kutztown University

4. Embodied Cognition • Perceive • receive & process sensa • Conceive • create concepts • Gain understanding Kutztown University

5. Embodied Cognition • Believe • know or think to be true • Achieve • accomplish specific task Kutztown University

6. 8 Laws of Embodied Cognition • A robot cannot: • conceive what it cannot perceive • perceive what it cannot conceive • achieve what it cannot conceive • conceive what it cannot achieve Kutztown University

7. 8 Laws of Embodied Cognition • A robot cannot: • conceive what it cannot believe • believe what it cannot conceive • perceive what it cannot believe • believe what it cannot perceive Kutztown University

8. Agent-Principal Paradigm • The robot is the agent • The “user” is the principal • The principal gives directives • The robot carries out directives • Interaction is required • This requires communication Kutztown University

9. Metaphors of A-P Paradigm • Hunter & hunting dog • Note: continuous interaction • General Eisenhower and President Roosevelt • Directive: You will invade the European continent and defeat the Nazi war machine Kutztown University

10. Ontgy/Eptmy of A-P Paradigm • Ontology & epistemology • Hunter & hunting dog • Overlap – but not co-extensive • Visual cortex vs. olfactory cortex • Different conceptual structures • Able to communicate with respect to task achievement Kutztown University

11. Ontgy/Eptmy of A-P Paradigm • Eisenhower and Roosevelt • Experientially disparate • Different conceptual structures • Different goals, but with overlap • Able to communicate for task achievement Kutztown University

12. A-P Paradigm for Robotics • Agent and principal are separate entities • Agent acts on its own • Agent receives and understands directives • Agent and principal communicate Kutztown University

13. Implement A-P Paradigm • Finch • Raspberry Pi • Laptop • Client-server approach Kutztown University

14. Finch • Carnegie Mellon's CREATE lab • Parts: • Light, temperature, and obstacle sensors  • Accelerometers  • Motors • Multiple programming languages and environments Kutztown University

15. Wireless Finch • Raspberry Pi • USB HUB • Battery Pack • Wireless Adapter Kutztown Univeristy

16. Software • Debian • Python 3 • OrientDB • TCP/IP Kutztown University

17. Client/Server Approach • Raspberry Pi - Server • Laptop - Client • Send commands to server • Commands translated to Finch’s API calls Kutztown University

18. OrientDB • GDB Software • Contained within Raspberry Pi Kutztown University

19. Finch Issues • Not deterministic • Straight line issues • Video link Kutztown University

20. New Approaches • 4tronix • Diddyborg Kutztown University

21. 4tronix Initio Kutztown University

22. PiBorgDiddyborg Kutztown University

23. Hardware/Software Experiences • Robots required initial setup • 4tronix required the least amount of work, but the most amount of time • Diddyborg required more technical skill such as soldering Kutztown University

24. Robot Comparison • Diddyborg • More durable and stronger • Requires more sensors • 4tronix • Plastic • Came with sensors out of the box Kutztown University

25. 4tronix Video • Link Kutztown University

26. Upcoming Tasks • Additional sensors • Indoor location services Kutztown University

27. Conclusion • This approach shows promise • Sensors and software must be tuned with respect to MMS theory (below) • Drawbacks • Cost per unit • Not turnkey system Kutztown University

28. MMS Theory • Affordances & constraints • Drawbacks • Cost per unit • Not turnkey system Kutztown University

29. MMS Theory • D/H A&C + software A&C determine mental model robot can construct • Drawbacks • Cost per unit • Not turnkey system Kutztown University

30. MMS Theory • Robot operates within (dynamic) mental model space Kutztown University

31. Bibliography, p. 1 • Bickhard, Representational content in humans and machines, Journal of Experimental and Theoretical Artificial Intelligence, 5(4), 1993, 285-333. • R.A. Brooks, A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, 2(1),1986, 14–23. TCP/IP • R.A. Brooks, Intelligence without representation, Artificial Intelligence 47 (1991), 139–159. • M. Cowart, Embodied Cognition, Internet Encyclopedia of Philosophy, URL = <http://www.iep.utm.edu/embodcog/>. Kutztown University

32. Bibliography, p. 2 • A. Kronfeld, Amichai. Reference and computation: an essay in applied philosophy of language (studies in natural language processing) (Cambridge, UK: Cambridge University Press, 1990). • A. Noe. Action in Perception (Cambridge, MA: MIT Press, 2005). • A. Noe. Spatial strategies in human-robot communication. KünstlicheIntelligenz, 16(4), 2002, 19-23. Kutztown University

33. Bibliography, p. 3 • L. Shapiro. Embodied Cognition (New York, NY: Routledge, 2011). • G. C. Smith. What Is Interaction Design? in B. Moggeridge. Designing Interactions (Cambridge, MA: MIT Press, 2007). • G.M. Stratton, The spatial harmony of touch and sight, Mind, 8(32), 1899, 492-505. • R. A. Wilson and L. Foglia, Embodied Cognition, The Stanford Encyclopedia of Philosophy (Winter 2015 Edition), E.N. Zalta (ed.), URL = <http://plato.stanford.edu/archives/win2015/entries/embodied-cognition/>. Kutztown University