1. cse@buffalo Cassie as a Self-Aware SNePS/GLAIR Agent Stuart C. Shapiro Department of Computer Science and Engineering, and Center for Cognitive Science University at Buffalo, The State University of New York 201 Bell Hall, Buffalo, NY 14260-2000 shapiro@cse.buffalo.edu http://www.cse.buffalo.edu/~shapiro/

2. cse@buffalo April, 2004S. C. Shapiro2 What is it? A computational cognitive agent that can: –Understand and communicate in English; –Discuss specific, generic, and “rule-like” information; –Reason; –Discuss acts and plans; –Sense; –Act; –Maintain a model of itself; –Remember and report what it has sensed and done.

3. cse@buffalo April, 2004S. C. Shapiro3 Cassie, the FEVAHR

4. cse@buffalo April, 2004S. C. Shapiro4 Simulated FEVAHR Cassie

5. cse@buffalo April, 2004S. C. Shapiro5 UXO Remediation Cassie Corner flag NonUXO object Corner flag UXO Battery meter Corner flag Drop-off zone Field Safe zone Recharging Station

6. cse@buffalo April, 2004S. C. Shapiro6 Crystal Cassie First Person Perspective Views

7. cse@buffalo April, 2004S. C. Shapiro7 Princess from “The Trial, The Trail” A VR drama by Josephine Anstey

8. cse@buffalo April, 2004S. C. Shapiro8 Patofil and Filopat

9. cse@buffalo April, 2004S. C. Shapiro9 Magellan Pro TM Mobile Robot from iRobot

10. cse@buffalo April, 2004S. C. Shapiro10 GLAIR Architecture Knowledge Level Perceptuo-Motor Level Sensory-Actuator Level NL Vision Sonar MotionProprioception Grounded Layered Architecture with Integrated Reasoning SNePS Mind BodyBody World deictic & modality registers & primitive-action procedures IP Sockets

11. cse@buffalo April, 2004S. C. Shapiro11 SNePS A logic-based KR system using reified propositions with special constructs for acts and an acting executive as well as an inference engine with an ATMS. From a Wumpus World agent: –all(r)(Isa(r,room) => whendo(In(r), believe(~Contains(r,pit)))).

12. cse@buffalo April, 2004S. C. Shapiro12 Kinds of Self-Awareness in Cassie Static beliefs (non-fluents) about herself Knows and recognizes her name. –My name is `Cassie’. Has first-person, privileged knowledge of, remembers, and can tell what she’s done. Has a sense of time, including “now”. Knows whom she is conversing with. –I talked to Bill and I am talking to you. Has self-perception of what she says.

13. cse@buffalo April, 2004S. C. Shapiro13 Basic Approach to Essential Self-Awareness Beliefs about self at KL (mind) inserted by PML (body).

14. cse@buffalo April, 2004S. C. Shapiro14 How It’s Implemented at the KL SNePS term denoting Cassie –Used in all beliefs about herself. SNePS terms denoting times –To relate acts/events Representation of acts is the same –For acts to be done by Cassie –For acts done by Cassie –For acts done by other agents –For acting –For NL interaction

15. cse@buffalo April, 2004S. C. Shapiro15 How It’s Implemented at the PML Deictic Registers –I = SNePS term denoting Cassie –NOW = SNePS term denoting current time –YOU = SNePS term denoting conversational partner

16. cse@buffalo April, 2004S. C. Shapiro16 How It’s Implemented at the PML Modality Registers –For current acts Vision modality register –KL term of entity Cassie’s currently looking at

17. cse@buffalo April, 2004S. C. Shapiro17 How It’s Implemented at the PML Lisp implementation of KL primitive acts Implementation of act a inserts KL belief that I did a NOW and moves NOW. = First person, privileged belief.

18. cse@buffalo April, 2004S. C. Shapiro18 Multi-Computer VR Agents KL PMLa PMLb PMLc SAL IP Sockets SNePS terms deictic & modality registers primitive-action procedures hardware drivers

19. cse@buffalo April, 2004S. C. Shapiro19 Body-Mind Feedback Most Difficult Issue When should mind move to next step of plan? When sense that goal of previous step has been achieved. For speech sequence: when hear self over self-perception socket.

20. cse@buffalo April, 2004S. C. Shapiro20 Next Steps Since awareness of acting is added by implementation of primitive acts, don’t yet have awareness of non-primitive acts. Put all this in architecture, so agent implementers needn’t be concerned.