The Role of Intelligent Robotics in Teaching A.I

The Role of Intelligent Robotics The Role of Intelligent Robotics in Teaching A.I.in Teaching A.I.

PACISE 2007PACISE 2007March 24March 24

Mark M. JonesMark M. Jones

Oskars J. RiekstsOskars J. Rieksts

2007 Kutztown University 2

OverviewOverview MotivationMotivation Reframing AIReframing AI Main Areas of AIMain Areas of AI The Big 3 of RoboticsThe Big 3 of Robotics Intelligent Mobile Agents – IssuesIntelligent Mobile Agents – Issues AI Issues in RoboticsAI Issues in Robotics Learning from ExperienceLearning from Experience ConclusionsConclusions


MotivationMotivation

Fun – inherently interestingFun – inherently interesting Attract students to CSAttract students to CS Attract students to AIAttract students to AI Undergrad research opportunitiesUndergrad research opportunities


Reframing A.I.Reframing A.I.{{the textbooksthe textbooks}}

Elaine RichElaine Rich Artificial Intelligence Artificial Intelligence Search, GPS, STRIPSSearch, GPS, STRIPS

Russell & NorvigRussell & Norvig A.I. : A Modern ApproachA.I. : A Modern Approach Intelligent agentIntelligent agent

Robin MurphyRobin Murphy An Introduction to AI RoboticsAn Introduction to AI Robotics Interactive applied A.I.Interactive applied A.I.


The Main Areas of AIThe Main Areas of AI Knowledge RepresentationKnowledge Representation Inference and reasoningInference and reasoning LearningLearning PlanningPlanning Natural language processingNatural language processing SearchSearch VisionVision


The Big 3 of RoboticsThe Big 3 of Robotics

SenseSense PlanPlan ActAct


Intelligent Mobile Agents - Intelligent Mobile Agents - IssuesIssues

AwarenessAwareness AutonomyAutonomy MobilityMobility KnowledgeKnowledge ActionAction ControlControl CooperationCooperation CommunicationCommunication


AwarenessAwareness SensingSensing

SituatednessSituatedness The worldThe world Effect of actionsEffect of actions SelfSelf

KnowingKnowing WhatWhat WhereWhere HowHow WhenWhen


AutonomyAutonomy

PurposePurpose DirectionDirection DecisionDecision


MobilityMobility

LocationLocation ChangeChange DirectionDirection


ActionAction

PurposePurpose PlanningPlanning DecisionDecision BehaviorBehavior


ControlControl

CoordinationCoordination TimingTiming KnowledgeKnowledge


CooperationCooperation Human-robot cooperationHuman-robot cooperation Multi-robot cooperationMulti-robot cooperation Conscious coordinationConscious coordination Emergent behaviorEmergent behavior


CommunicationCommunication

Human-robot communicationHuman-robot communication Robot-robot communicationRobot-robot communication Sub-cognitive communicationSub-cognitive communication Cognitive communicationCognitive communication


AI Issues in Robotics AI Issues in Robotics Spatial Cognition: A Case StudySpatial Cognition: A Case Study


Spatial CognitionSpatial Cognition

Definition: Definition: Cognitive functions that enable people to deal Cognitive functions that enable people to deal

effectively with spatial relations, visual spatial effectively with spatial relations, visual spatial tasks and orientation of objects in space. tasks and orientation of objects in space.

One aspect of these cognitive skills is spatial One aspect of these cognitive skills is spatial orientation, which is the ability to orient oneself orientation, which is the ability to orient oneself in space relative to objects and events; and the in space relative to objects and events; and the awareness of self-location (A.S. Reber, awareness of self-location (A.S. Reber, The The Penguin Dictionary of PsycologyPenguin Dictionary of Psycology). ).


Early HistoryEarly History John Locke (1632 – 1704)John Locke (1632 – 1704)

Essay on Human UnderstandingEssay on Human Understanding Tabula rasa = blank slateTabula rasa = blank slate Sensations strike blank mindSensations strike blank mind Mental processes produce vision of the worldMental processes produce vision of the world

George Berkeley (1685 – 1753)George Berkeley (1685 – 1753) Essay Toward a New Theory of VisionEssay Toward a New Theory of VisionExplored relationship between sight and touch . . Explored relationship between sight and touch . . and between ideas and the material worldand between ideas and the material world


2020thth Century Century

George M. Stratton (1865-1957)George M. Stratton (1865-1957) Experiments with visionExperiments with vision

Inversion of visual input (special goggles)Inversion of visual input (special goggles) Visual system builds anewVisual system builds anew Gregory: “perhaps the most famous experiment Gregory: “perhaps the most famous experiment

in the whole of experimental psychology”in the whole of experimental psychology” The Spatial Harmony of Touch and SightThe Spatial Harmony of Touch and Sight


Stratton’s ExperimentStratton’s Experiment Immediate consequenceImmediate consequence

Perceptual-motor coordination disruptedPerceptual-motor coordination disrupted Disparity between seen and thought to beDisparity between seen and thought to be

RestorationRestoration Day 3 – “things interconnected into a whole”Day 3 – “things interconnected into a whole” Process – “piecing together parts of the ever-changing Process – “piecing together parts of the ever-changing

visual fields”visual fields” Visual system builds anew “growing from an isolated Visual system builds anew “growing from an isolated

group of perceptions”group of perceptions” “ “correspondence, point by point, between touch and correspondence, point by point, between touch and

sight, is built up associationally”sight, is built up associationally” ConclusionConclusion

by experience person learns “what visual position by experience person learns “what visual position corresponds to any given tactual position”corresponds to any given tactual position”


Cognitive StructuringCognitive Structuring

Rudolph CarnapRudolph Carnap Der logische Aufbau der WeltDer logische Aufbau der Welt The Logical Structure of the WorldThe Logical Structure of the World

AufbauAufbau buildingbuilding setup setup structurestructure superstructuresuperstructure

Structured artifactStructured artifact


Issues in Spatial CognitionIssues in Spatial Cognition

Experiential SpaceExperiential Space Ego-centricEgo-centric Goal-orientedGoal-oriented Tight sensory-motor couplingTight sensory-motor coupling Minimal knowledge representationMinimal knowledge representation

Rodney BrooksRodney Brooks Intelligence without representationIntelligence without representation

Bickhard’s frogBickhard’s frog Kirsh’s EarwigKirsh’s Earwig


Issues in Spatial CognitionIssues in Spatial Cognition Arkin, Murphy, et. al.Arkin, Murphy, et. al.

Cspace – configuration spaceCspace – configuration space Path planning – plan, then actPath planning – plan, then act A* searchA* search Minimal conceptualizationMinimal conceptualization

ProblemsProblems Subgoal obsessionSubgoal obsession Lost opportunitiesLost opportunities

Oliver SacksOliver Sacks The Man Who Mistook His Wife for a HatThe Man Who Mistook His Wife for a Hat


Issues in Spatial CognitionIssues in Spatial Cognition

Benjamin KuipersBenjamin Kuipers Semantic Spatial HierarchySemantic Spatial Hierarchy

» Artificial IntelligenceArtificial Intelligence, 1999, 1999

AspectsAspects Models human cognitive mapModels human cognitive map Multiple interacting representationsMultiple interacting representations BothBoth

» QualitativeQualitative

» QuantitativeQuantitative

Multiple levelsMultiple levels


Spatial Semantic Hierarchy - LevelsSpatial Semantic Hierarchy - Levels Control levelControl level

Local geometric mapsLocal geometric maps Causal levelCausal level

BehaviorBehavior States linked by actionsStates linked by actions

Topological levelTopological level External ontologyExternal ontology

» PlacesPlaces» PathsPaths» RegionsRegions

Explain observed causal level patternsExplain observed causal level patterns


Issues in Spatial Cognition - Issues in Spatial Cognition - NavigationNavigation

Foo, Warren, TarrFoo, Warren, Tarr Human spatial strategiesHuman spatial strategies

Task : learn novel shortcutTask : learn novel shortcut Metric cognitive mapMetric cognitive map Landmark-based navigationLandmark-based navigation

ConclusionsConclusions Landmark-based predominatesLandmark-based predominates AntsAnts

» 11stst use survey knowledge . . use survey knowledge . .» then switchthen switch

People do notPeople do not


Spatial Cognition – Study CentersSpatial Cognition – Study Centers Transregional Collaborative Research CenterTransregional Collaborative Research Center

Spatial Cognition: Reasoning, Action, Interaction Spatial Cognition: Reasoning, Action, Interaction Established by the Established by the Deutsche Deutsche ForschungsgemeinschaftForschungsgemeinschaft

(DFG) (DFG) Universities of Bremen and FreiburgUniversities of Bremen and Freiburg

Concerned with:Concerned with: Knowledge about spatial environmentsKnowledge about spatial environments

» AcquisitionAcquisition

» OrganizationOrganization

» UtilizationUtilization

» RevisionRevision


Spatial Cognition – Study CentersSpatial Cognition – Study Centers Research IssuesResearch Issues

Investigatin of human spatial cognitionInvestigatin of human spatial cognitionMobile robot navigationMobile robot navigation

GoalGoal Investigate cognitive foundations for human-Investigate cognitive foundations for human-

centered spatial assistance systems. centered spatial assistance systems.


Spatial Cognition – Study CentersSpatial Cognition – Study Centers Spatial Cognition Priority ProgramSpatial Cognition Priority Program

Spatial behaviorSpatial behavior Spatial inferenceSpatial inference Spatial codingSpatial coding Aspect mapsAspect maps Ego spaceEgo space Mental modelsMental models Robot navigationRobot navigation Route knowledge/learningRoute knowledge/learning Landmark usageLandmark usage


AI Issues in RoboticsAI Issues in Robotics AwarenessAwareness

VisionVision Sensor interpretationSensor interpretation Knowledge acquisitionKnowledge acquisition LearningLearning

AutonomyAutonomy Cognitive basisCognitive basis PlanningPlanning DecisionDecision


AI Issues in RoboticsAI Issues in Robotics MobilityMobility

LocalizationLocalization MappingMapping

» Spatial representationSpatial representation Topological vs. metricalTopological vs. metrical Egocentric vs. allocentricEgocentric vs. allocentric Semantic structure of spaceSemantic structure of space

» Spatial reasoningSpatial reasoning

» Experiential realizationExperiential realization

Path PlanningPath Planning» OptimizationOptimization


AI Issues in RoboticsAI Issues in Robotics KnowledgeKnowledge

Knowledge representationKnowledge representation Knowledge acquisitionKnowledge acquisition LearningLearning MetaknowledgeMetaknowledge

ActionAction PlanningPlanning DecisionDecision UnderstandingUnderstanding

» CausalityCausality» ConsequencesConsequences


AI Issues in RoboticsAI Issues in Robotics ControlControl

Control ParadigmsControl Paradigms» SupervisorySupervisory

» ReactiveReactive

» Hybrid – deliberative/reactiveHybrid – deliberative/reactive

» Role of autonomous controlRole of autonomous control

CoordinationCoordination» Sensing & actingSensing & acting

» TimingTiming


AI Issues in RoboticsAI Issues in Robotics CooperationCooperation

Awareness of othersAwareness of others Shared goalsShared goals Models of coordinationModels of coordination

SupervisorySupervisory TeamworkTeamwork Unaware cooperationUnaware cooperation

CommunicationCommunication LanguageLanguage

» UnderstandingUnderstanding» GenerationGeneration


Sample ProjectsSample ProjectsSimulated/TheoreticalSimulated/Theoretical

MappingMapping Path planningPath planning

Graph-basedGraph-based Limo driverLimo driver

» Asymmetric TSPAsymmetric TSP

Delivery robotDelivery robot Emergent behavior – flockingEmergent behavior – flocking Simulator constructionSimulator construction


Sample Projects – Real WorldSample Projects – Real World From scratchFrom scratch Roomba-basedRoomba-based

RooToothRooTooth On-board processor {API}On-board processor {API}

Create-basedCreate-based Heat-seekingHeat-seeking Odor interpretationOdor interpretation

Rehabilitative assistantRehabilitative assistant Robotics Tutorial - Robotics Tutorial - RobotutRobotut


Learning from ExperienceLearning from Experience SimulatorsSimulators

OS issuesOS issues Library incompatibilitiesLibrary incompatibilities Poor documentationPoor documentation Wasted timeWasted time

HardwareHardware Basic electronicsBasic electronics Component failureComponent failure Possible quagmirePossible quagmire


Key LessonsKey Lessons MaintainMaintain

Primacy of theoreticalPrimacy of theoretical Clear goalClear goal

FindFind Tested hardwareTested hardware Good textGood text

TextsTexts Murphy – Murphy – AI RoboticsAI Robotics Arkin – Arkin – Behavior-Based RoboticsBehavior-Based Robotics Mataric – Mataric – CreateCreate robot coursework robot coursework


Conclusions regarding Conclusions regarding Intelligent Robotics (IR)Intelligent Robotics (IR)


IR is AI-completeIR is AI-complete Key AI issues central to IRKey AI issues central to IR Examples discussed aboveExamples discussed above New Elsevier series – Foundations of New Elsevier series – Foundations of

Artificial IntelligenceArtificial Intelligence Temporal reasoningTemporal reasoning Knowledge representationKnowledge representation Autonomous systems and robotsAutonomous systems and robots Learning and visionLearning and vision Spatial reasoningSpatial reasoning


IR is CS-completeIR is CS-complete Behavior-based Behavior-based OOP OOP Interleaved control Interleaved control OS OS

InterruptsInterrupts Job schedulingJob scheduling

Tractability Tractability Algorithm D&S Algorithm D&S Path planning Path planning Search Search VisionVision Many other examplesMany other examples

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The Role of Intelligent Robotics in Teaching A.I