1/17 toluca, mexico, september 1-4, 2002 marc parenthon, cdric buche, jacques tisseau action...
DESCRIPTION
3/17 Toluca, Mexico, September 1-4, 2002 virus interaction immersion 3D-movie flight simulator presence video-game 01 1 autonomy 1 VR : History virtual theatre interactive fiction in virtuo virtual realityTRANSCRIPT
11/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Marc Parenthoën,Cédric Buche,
Jacques Tisseau
Action Learning for AutonomousVirtual Actors
Laboratory of Software IngeneeringLi2/ENIB, EA 2215/UBO, BREST, FRANCE
22/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Plan Autonomous Virtual Actors
Simulation in the Simulation
Action Learning
Principle of autonomy
Behavioral culture, Active perception
Autonomous adaptation of behavior
33/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
virus
interaction
immersion
3D-movie
flight simulator
presence
video-game
0 1
1
autonomy
1
VR : History
virtual theatre
interactive fiction
in virtuo virtual reality
44/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Deficiencies sensorial motor mental
loss of autonomy
Abilities of perception of action of decision
Autonomy of execution
Towards Intrinsic Autonomous Models
55/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
FCM
++
-
specify behaviorBehavioral Modeling
closeenemy
farenemy
wish toescape
fear
-
+
+
perceptions
actions
deci
sion
sensors
effectors
1 ;,,1for , )1(),()( tNiNitatfGSN
ita tT
t L
dyna
mic
s
fuzzyfication
defuzzyfication
Explicative Emotional Perceptive Predictive Adaptative
FCMs [Kosko86]
control movement
66/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
autonomous virtual entity
perception
action
Reactive Virtual Actor
reaction
sensors
effectors
FCMs
perception
emotions
character
77/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Plan Autonomous Virtual Actors
Simulation in the Simulation
Action Learning
Behavioral culture, Active perception
88/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Behavioral Prototypes for 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
Key for learning
Anticipation Choice of strategy
99/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Active Perception [Droulez & Berthoz 88]
sensorimotor inputs
effector command
operators on state
variables
inner maps operations
input switch
output switch
} proj
ectiv
e
}
cons
erva
tive
behaviormodification
comparisonreal/simulated
1010/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
autonomous virtual entity
perception
action
Predictive Virtual Actor
predictioninhibition
inhibition
proj
ectio
nst
rate
gy
reaction
sensors
effectors
FCMs
FCMs
self-
perc
eptio
n
library of behaviors
perc
eptio
n of
oth
ers Prey
Predator
Friend
behavioral model simulation sensorimotor strategy choice
active perception
1111/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Plan Autonomous Virtual Actors
Simulation in the Simulation
Action Learning
Autonomous adaptation of behavior
1212/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Virtual Gathering
• another sheepdog
• shepherd driven
• specific sheep
Imitations
sheepdogFCMs={it-self, prey}
paranoiac sheepFCMs={it-self, predator}• specific dog
• normal sheep
remaining paranoiac
guard point
pasture
1313/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr Prey prototype from libraryBehavioral Prototype-Based Imitation
estimated sensors
estimated effectors
++
-
closeenemy
farenemy
wish toescape
fear
-
+
+0.6
predicted effectors
calling into question (crisp choice)
differential hebbian learning to update links
1414/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Prey-prototype from library Prey identified by imitation
Sheepdog Imagining a Stressed Sheep
1515/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
autonomous virtual entity
perception
action
Autonomous Action Learning
learning
com
pari
son
adap
tatio
n
selection by active perception
modification
reaction
sensors
effectors
FCMspr
ojec
tion
stra
tegy
prediction
FCMs
self-
perc
eptio
n
library of behaviors
perc
eptio
n of
oth
ers Prey
Predator
Friend
FCM
learning process
ImitationCharacterisationIdentification
inhibition
inhibition inhibition
inhibition
inhibition
inhibition
1616/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Plan Autonomous Virtual Actors
Simulation in the Simulation
Action Learning
1717/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
European Center of Virtual Reality
CERV
… Brest (France), september 2003
Li2CERV
Questions ?
1818/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Animation
what IS the model
Simulation
what doesthe model DO
ModelingWhat BECOMES of the model
Model
sense action
language
real time interactive
on line
Exploitation of Models
1919/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Participative SimulationInteractive SimulationNumerical Simulation
model
slave/master
model
master/slave
actorspectator
cre-actorinteractive simulationaction
real time animationsense
on line modellinglanguage
interactivity
0
1
2
User Status
model
avatar
equal/equal
2020/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Multi-Agent Systems
perception
action
decision
Numerical model descriptive causal behavioral
2121/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
VOWELS Agent Environment Interaction Organisation
“extended” VOWELS User
model
model
A E I O
avatar
avatar
U
Participative Multi-Agent Systems
2222/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Reactive Virtual Skipper
LandmarkGyroscope Landmark
Trim
ObstacleJibe-Luff
ObstacleLuff
SpecificNo Surf
SpecificSurf
GatewayVMG
GatewayRestart
-1 -1
+1
+1 -1
-1
-1
-1 -1-1
-1
-1-1
-1
-1
-1
compasscrollrrollrtrimtcompasschelmboatv2
Adaptative Virtual Skipper
HF strategy
LF fuzzyfication
and dynamics
2323/17/17
Tol
uca,
Mex
ico,
Sep
tem
ber
1-4,
200
2 {p
aren
thoe
n,bu
che,
tisse
au}@
enib
.fr
Human and Virtual Helmsman
compasscrollrrollrtrimtcompasschelmboatv
2
• associated to each affordance
• part of strategy
• no HF strategy