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A Cognitive Map for an Artificial Agent

A Cognitive Map for an Artificial Agent. Unmesh Kurup RPI kurupu@rpi.edu B. Chandrasekaran The Ohio State University chandra@cse.ohio-state.edu. Overview. Cognitive map Features Goals biSoar architecture Cognitive Map in biSoar Examples. Cognitive Map. Cognitive Map.

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A Cognitive Map for an Artificial Agent

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  1. A Cognitive Map for an Artificial Agent Unmesh Kurup RPI kurupu@rpi.edu B. Chandrasekaran The Ohio State University chandra@cse.ohio-state.edu

  2. Overview • Cognitive map • Features • Goals • biSoar architecture • Cognitive Map in biSoar • Examples

  3. Cognitive Map

  4. Cognitive Map • Representation of large-scale space

  5. Cognitive Map • Representation of large-scale space • Layout of a city

  6. Cognitive Map • Representation of large-scale space • Layout of a city or a building

  7. Cognitive Map • Representation of large-scale space • Layout of a city or a building • Supports a number of problem solving tasks.

  8. 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.

  9. 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?

  10. 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.

  11. Features of the Cognitive Map

  12. Features of the Cognitive Map • Non-holistic

  13. 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.

  14. Features of the Cognitive Map • Non-holistic • manageable

  15. Features of the Cognitive Map • Non-holistic • Manageable

  16. 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. vs If you take a right on Clark you will get to your hotel

  17. Features of the Cognitive Map • Non-holistic • Manageable, updateable,

  18. 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 20th St, you will get to the intersection of 20th St and Clark. If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark. New info? Just add it! If you take a right on Clark you will get to your hotel

  19. Features of the Cognitive Map • Non-holistic • Manageable, updateable, composable

  20. 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

  21. Features of the Cognitive Map • Non-holistic • Manageable, updateable, composable • Has both symbolic and metric aspects

  22. 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

  23. Goals • Capture features • A non–holistic representation with both symbolic and metric aspects

  24. Goals • Capture features • A non–holistic representation with both symbolic and metric aspects • Cognitive architecture approach

  25. biSoar A Bimodal Cognitive Architecture

  26. biSoar • Soar + Diagrammatic Representation System (DRS)

  27. DRS - Diagrammatic Representation System (Chandra et. al. 2004) • Diagrams consist of three types of objects – Points, Curves & Regions.

  28. 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

  29. Working Memory Symbolic component: Block (A), Block (B), Block (C), On (A,B), On (B,C) Selected Operator: None Diagrammatic component A B C biSoar Soar World Working Memory: Block (A), Block (B), Block (C), On (A,B), On (B,C) Selected Operator: None biSoar Soar WM DRS

  30. 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.

  31. 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.

  32. 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

  33. R4 R5 R1 R3 R2 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

  34. Examples – Route-finding • Given a map, find route from P1 to P2 • Route-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

  35. Learning while route-finding Example rules learned during wayfinding

  36. R4 R5 R1 R3 R2 Within-task transfer • Task1 – P1 to R3R5

  37. R4 R5 R1 R3 R2 Within-task transfer • Task1 – P1 to R3R5, Task2 – P4 to P2

  38. R4 R5 R1 R3 R2 Within-task transfer • Task1 – P1 to R3R5, Task2 – P4 to P2 • New route-finding task – P4 to R3R5

  39. Between-task transfer • Geographic Recall problem • What’s the spatial relation between R1R3 and R3R5?

  40. Finding short-cuts R4 If goal is find_routes and at R2R5 then there is a route r5 in the up direction. R1 R3 R2

  41. Finding short-cuts R4 If goal is find_routes and at R2R5 then there is a route r5 in the up direction. R1 R3 Find route from P2 to P5 R2

  42. Finding short-cuts R4 If goal is find_routes and at R2R5 then there is a route r5 in the up direction. R1 R3 Find route from P2 to P5 R2 R3 R5 R2

  43. 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.

  44. Thanks!

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