1. 1/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Marc Parenthoën, Jacques Tisseau, Thierry Morineau. Believable Decision for Virtual Actors Laboratory of Software Ingeneering Li2, CERV/ENIB, BREST, FRANCE Research Group in Informatics and Cognition GRESICO, UBS/IUP, VANNES, FRANCE CERV

2. 2/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Introduction : Root Ideas o Experimental Psychology Cognitive Ergonomy : Affordances [Gibson_77] o Neurophysiology Anticipation : Active Perception [Berthoz_97] o Cognition + Decision Theory Tool :Fuzzy Cognitive Maps [Tolman_48+Kosko_86]

3. 3/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Plan o Autonomous Virtual Actors o Believable Activity o Simulation in the Simulation Autonomy, Behavioral Modeling Affordances, Sensorimotor strategy Active perception, Behavioral culture

4. 4/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II virus interaction immersion 3D-movie flight simulator presence video-game 01 1 autonomy 1 VR : History virtual theatre interactive fiction in virtuo virtual reality

5. 5/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Deficiencies o sensorial o motor o mental  loss of autonomy Abilities o of perception o of action o of decision Autonomy o of execution Towards Intrinsic Autonomous Models

6. 6/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II FCM + + - specify behavior Behavioral Modeling close enemy far enemy wish to escape fear - + + perceptions actions decision sensors effectors dynamics fuzzyfication defuzzyfication o Explicative o Emotional o Perceptive o Predictive o Adaptative FCMs [Kosko86] control movement o Explicative o Emotional o Perceptive

7. 7/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II autonomous virtual entity perception action Reactive Virtual Actor reaction sensors effectors FCMs o perception o emotions o character +1 +0.9 - + ++ close enemy far enemy wish to escape fear

8. 8/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Plan o Autonomous Virtual Actors o Believable Activity o Simulation in the Simulation Affordances, Sensorimotor strategy

9. 9/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II FCMs for Affordance Selection Landmark Gyroscope Landmark Trim Obstacle Jibe-Luff Obstacle Luff Specific No Surf Specific Surf Gateway VMG Gateway Restart +1 o absolute value  accessibility level = relative value implemented by fuzzy rules on sensors  FCM extern activations Sailing o interaction environment-tool-agent [Gibson_77]

10. 10/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Affordance Drives the Modality of Action Gateway Restart Sequence of sensorimotor configurations Strategy of trajectory o to keep some state variables in bounding box o sequence specifies main trajectory in state variables o associated to perceptive strategy

11. 11/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Plan o Autonomous Virtual Actors o Believable Activity o Simulation in the Simulation Active perception, Behavioral culture

12. 12/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Active Perception [Droulez & Berthoz 88] sensorimotor inputs effector command operators on state variables inner maps operations input switch output switch } projective } conservative behavior modification comparison real/simulated

13. 13/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications 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 o Adaptation o Predictions Using its Own Culture o Strategy Choice

14. 14/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II autonomous virtual entity perception action Predictive Virtual Actor prediction inhibition projection strategy reaction sensors effectors FCMs self-perception library of behaviors perception of others Prey Predator Fellow o behavioral model simulation o sensorimotor strategy choice o implementation of active perception

15. 15/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Prey prototype from library Behavioral Prototype-Based Imitation Ê estimated sensors Ê estimated effectors + + - close enemy far enemy wish to escape fear - + +0.6 Ë predicted effectors Ì calling into question (crisp choice) Í differential hebbian learning to update links

16. 16/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II autonomous virtual entity perception action Active Perception for Action Learning learning comparison adaptation selection by active perception modification reaction sensors effectors FCMs projection strategy prediction FCMs self-perception library of behaviors perception of others Prey Predator Friend FCM learning process Imitation Characterisation Identification inhibition

17. 17/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Plan o Autonomous Virtual Actors o Believable Activity o Simulation in the Simulation

18. 18/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Marc Parenthoën, Jacques Tisseau, Thierry Morineau. Believable Decision for Virtual Actors Laboratory of Software Ingeneering Li2, CERV/ENIB, BREST, FRANCE Research Group in Informatics and Cognition GRESICO, UBS/IUP, VANNES, FRANCE CERV Thank You. Questions ?

19. 19/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II using perceptions Calling into Question for Learninig defuzzyfication possibilities withlinks toward for defuzzyfication Proposed effector compaired with estimated effector along paths and cycles in graph Source calling into question : : destination activation : destination inactivation : inaction

20. 20/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Prey-prototype from library Prey identified by imitation Sheepdog Imagining a Stressed Sheep

21. 21/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Human and Virtual Helmsman associated to each affordance part of strategy no HF strategy

22. 22/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Animation what IS the model Simulation what does the model DO Modeling What BECOMES of the model Model senseaction language real timeinteractive on line Exploitation of Models

23. 23/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Participative SimulationInteractive SimulationNumerical Simulation model slave/master model master/slave actor spectator cre-actor interactive simulation action real time animation sense on line modelling language interactivity 0 1 2 User Status model avatar equal/equal

24. 24/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II Multi-Agent Systems Individual Centred Approach Entities in interaction if weak signal 1. Perception 2. Decision 3. Action 3 beat cycle : Auto-organisation Robustness Modularity, incrementality

25. 25/18 {parenthoen,tisseau}@enib.fr morineau@univ-ubs.fr Systems Man and Cybernetics October 6-9, 2002, Hammamat, Tunisia session MP2R: Virtual Reality and Applications II VOWELS o Agent o Environment o Interaction o Organisation “extended” VOWELS o User model A E I O avatar U Participative Multi-Agent Systems