Pogamut 2 Platform for fast development of cognitive agents inside 3D environment Creating JavaSPOSH bot project + pitfalls (S)POSH Reimplementing bots with SPOSH Faculty of mathematics and physics Charles University at Prague 16 th April

JavaSPOSH bot project Select correct project type and read the description !

JavaSPOSH bot project Freshly created project is containing:  Main.java – main class that fires up the bot, containing path to the sposhPlan.lap (need to be configured! – next slide…)  MyBehavior.java – descendant of Behavior, containing actions and senses (implementations done here)  sposhPlan.lap – file containing SPOSH plan (decision tree of the agent)

Running empty JavaSPOSH bot Not as easy as with JavaBot project. 1) we’re still have some nasty problem with build.xml (Ant script file firing the agent up), may be already corrected… 2) some project names gives the Python engine a headache 3) you have to correctly specified the path to the sposhPlan.lap file (for SPOSH-engine)

JavaSPOSH bot project – Pitfall 1 3) We’re still have some troubles with build.xml file… 4) Take build.xml file from any Java Bot project (replace JavaSPOSH one with it). 2) No bot is running… 1) Even though BUILD is SUCCESSFUL

JavaSPOSH bot project – Pitfall 2 1) Even though BUILD is SUCCESSFUL 2) Bot failed to run 3) Python engine has tried to interpret \abc as a character and broken the path to the planfile

JavaSPOSH bot project – Pitfall 2 solution DO NOT create projects with names that begin with a, b, c, d, e, f … otherwise the Python engine will interpret \abcYourName as ‘\abc’YourName converting \abc to a wrong character and breaking the path. Project name ABC is WRONG Project name JavaSPOSHTest is OK

JavaSPOSH bot project – Pitfall 3 3) Because it couldn’t find the sposhPlan.lap file 2) Bot has failed to run… 1) Even though BUILD is SUCCESSFUL

JavaSPOSH bot project – Pitfall 3 solution Step-by-step: 1) open Main.java file and find getPlanFile() method 2) change “PROJECT_NAME” and “package_name” in this case to “JavaSPOSHExample” and “javasposhexample”

JavaSPOSH bot project – Bot is running Congratulations!

POSH parallel ordered slip-stack hierarchy  Dr. J. J. Bryson, University of Bath, UK   reactive planner  not fully reactive, you may store whatever variable in your Behavior  SPOSH – Strict POSH  more or less a decision tree with slip-stack  working with Behavior class that is containing actions and senses

POSH parallel ordered slip-stack hierarchy  Agent has:  goal to fulfill  we’re running endlessly so the goal is “fail”  ordered drives  evaluated each POSH-engine iteration  competences  action patterns  Using (defined in Behavior):  senses – gives information from the environment  actions – primitives

POSH parallel ordered slip-stack hierarchy

POSH Syntax for HC people :-)

POSH parallel ordered slip-stack hierarchy Notice the corespondency between action / sense names in plan file and names of the methods in java source code.

Java SPOSH bot project Implementing actions / senses  every action has prefix ‘action_’  every sense has prefix ‘sense_’  both are always without parameters, both HAS to return a boolean (success)  memory and body accessible through bot.getMemory() and bot.getBody() inside MyBehavior.java Implemented inside MyBehavior.java Java Reflection API is used. File MyBehavior.java

Java SPOSH bot project When the bot fails to run… 1) Bot builds ok 2) But fails to run 3) Examine Platform Log 4) Look for SEVERE entry with ‘Can’t instantiate SPOSH agent’ 5) Read the reason … here, we’ve got error in plan syntax

Java SPOSH bot project How to test, how it works… Download the JavaSPOSHExample bot from the webpage. Where is the trick? Every action / sense that is firing is logging into User log that it fires. You’re free to examine how the SPOSH engine works Some hints: 1)SPOSH engine first schedules some action / action pattern to be executed 2)Then it executes all scheduled actions (e.g. action pattern will schedule more then one action)

Java SPOSH bot project Remember FollowBot? Now the time has come! To become The One… Do you remember FollowBot from the second lecture? Good! Go and implement it using JavaSPOSH bot project. Good luck!