Download - Mohamed Oubbati Embodied Intelligence
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EmbodiedIntelligencewhenBRAIN,BODY,andENVIRONMENTinteract
MohamedOubba?
March,2012
1Dr.Oubba?,March2012
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EmbodiedIntelligencewhenBRAIN,BODY,andENVIRONMENTinteract
2Dr.Oubba?,March2012
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Intelligence
3Dr.Oubba?,March2012
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Canwedesignintelligence?
4Dr.Oubba?,March2012
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Imeanhuman‐likeintelligence,notjustthe“appearance”ofintelligence
Canwedesignintelligence?
5Dr.Oubba?,March2012
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Imeanhuman‐likeintelligence,notjustthe“appearance”ofintelligence
YES
Canwedesignintelligence?
6Dr.Oubba?,March2012
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Canwedesignintelligence?
Imeanhuman‐likeintelligence,notjustthe“appearance”ofintelligence
YESBUT1.weneedtoknowhow.
2.weneedtoolstoimplementthisknow‐how.7Dr.Oubba?,March2012
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Imeanhuman‐likeintelligence,notjustthe“appearance”ofintelligence
YESBUT1.weneedtoknowhow.
2.weneedtoolstoimplementthisknow‐how.
Thistalkisaboutthesetwopoints
Canwedesignintelligence?
8Dr.Oubba?,March2012
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Whatisintelligence?
In1921,theJournalofEduca?onalPsychologyasked14expertsfordefini?ons
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Whatisintelligence?
Result:14differentdefini?ons!
In1921,theJournalofEduca?onalPsychologyasked14expertsfordefini?ons
10Dr.Oubba?,March2012
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Whatisintelligence?
Intelligenceisdifficulttodefineandunderstand
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Whatisintelligence?
Intelligenceisdifficulttodefineandunderstand
Maybeoneshouldtrytobuildar?ficialintelligentsystemsinordertounderstandintelligence
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Ar?ficialIntelligence
13Dr.Oubba?,March2012
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• “…thestudyofhowtomakecomputersdothingsatwhich,atthemoment,peoplearebeber”
A.I.researchis
(Rich&Knight,1991)
• “…theartofcrea?ngmachinesthatperformfunc?onsthatrequireintelligencewhenperformedbypeople“
(Kurzweil,1990)
• Themoderndefini?onofA.I.is“thestudyanddesignofintelligentagents”
Ar?ficialIntelligence
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ThecurrentAIhasproducedsuccessinthenarrow:well‐definedproblems,withverifiableresults,inpredictableenvironments,usingwell‐understoodtechniques.
Ar?ficialIntelligence
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In1997,DeepBluebeatKasparov.
SomeAI programsareextremelysuccessfulatwhattheyarespecialized.
Ar?ficialIntelligence
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‐ naturallanguageunderstanding‐ generalvision‐ understandingamovie‐ wri?ng
AlthoughmanyAIsystemsarebeyondhuman‐levelcompetenceatsomeindividualtasks,AIhasfailed(miserably)inmanydomainslike
Ar?ficialIntelligence
FailureofthecurrentAI
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ToovercomethecurrentAIproblemswemustreturnbacktotheoriginalgoalofAI:
„createsystemsthatarehumanlyintelligent“
Ar?ficialIntelligence
FailureofAI
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ToovercomethecurrentAIproblemswemustreturnbacktotheoriginalgoalofAI:
„createsystemsthatarehumanlyintelligent“
Ar?ficialIntelligence
FailureofAI
aimstocreateacomputer‐basedintelligenceatleastassmartasahuman.
(since2001)
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20Dr.Oubba?,March2012
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• Conventional AI(alsocalledNarrowAI,AppliedAI,WeakAIorClassicAI)
(alsocalledStrongAI,Human‐levelAI,RealAI,…)
Conventional AIvs.AGI
Intelligenceistheabilitytoachievepre‐definedgoals,underconstraints.
Intelligenceistheabilitytoexpandanddevelopnewabili?es.
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aimstocreatemachinesthatactasiftheywereintelligent,i.e.theappearanceofintelligence.
aimstocreate,approach,andexceedhumanintelligence.
Conventional AIvs.AGI
22Dr.Oubba?,March2012
• Conventional AI(alsocalledNarrowAI,AppliedAI,WeakAIorClassicAI)
(alsocalledStrongAI,Human‐levelAI,RealAI,…)
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Conventional A.I.
PROBLEMSPACE
[AdaptedfromDr.Goertzel]Conventional AIvs.AGI
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mostpeopleworkonconventional AIConventional AIvs.AGI
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mostpeopleworkonconventional AI...maybebecauseworkingonAGIisrisky:
1. Maybeitis“impossible”.
2. Itisdifficulttogetfundingforrisky„ambi?ous“researchprojectsthataimtogotowardshuman‐levelintelligence.
3. Achievinghuman‐levelintelligencemeansthepossibilitytoachieveSuperintelligencethatcouldbeoutofcontrol.
Conventional AIvs.AGI
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26Dr.Oubba?,March2012
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Iconsiderthefollowingques?ons
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28Dr.Oubba?,March2012
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YES
29Dr.Oubba?,March2012
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YES
wehaveasolidproofthatitispossible—namelyourselves.
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31Dr.Oubba?,March2012
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32Dr.Oubba?,March2012
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Howcanarobotlearnlikeachild?
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Howcanarobotlearnlikeachild?
bytryingtoreconstructtheprocessesofdevelopmentofthechild'smind.
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ChildDevelopment
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Childdevelopmentisaprocesseverychildgoesthrough.
Itincludes
physicaldevelopment,personaldevelopment,socialdevelopment,andcogni?vedevelopment.
childdevelopment
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Childdevelopmentisaprocesseverychildgoesthrough.
Itincludes
physicaldevelopment,personaldevelopment,socialdevelopment,andcogni?vedevelopment.
childdevelopment
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Frombirth,babiesbegintoac?velygatherandprocessinforma?onfromthesurroundingworld,andusethedatatodeveloppercep?onandthinkingskills.
childdevelopment
Cogni?veDevelopment
38Dr.Oubba?,March2012
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years
World0
World1
World2
World3
Cogni?veDevelopment
Theprocessofunderstandingtheworldchangesasafunc?onofage&experience
childdevelopment
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years
World0
World1
World2
World3
Cogni?veDevelopment
Theprocessofunderstandingtheworldchangesasafunc?onofage&experience
Howdoesthishappen?
childdevelopment
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JeanPiaget(1896‐1980)
(Psychologist)
LevVygotsky(1896‐1934)
(Psychologist)
Howchildren’scogni?ondevelop?Twotypicalsourcesofinspira?on
childdevelopment
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JeanPiaget(1896‐1980)
(Psychologist)
Piagetwasinterestedinhowachildadaptstoitsenvironment.
(hedescribedthisabilityasintelligence)
childdevelopment
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JeanPiaget(1896‐1980)
(Psychologist)
Piagetwasinterestedinhowachildadaptstoitsenvironment.
(hedescribedthisabilityasintelligence)
Adapta?on
Assimila?on Accomoda?on
childdevelopment
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Assimila?on
Addingnewexperiencestotheexis?ngones,andreinforcethem.
childdevelopment
Accommoda?on
Adjus?ngexis?ngexperiencestodealwithnewsitua?ons.
Piaget’sassump?ons
44Dr.Oubba?,March2012
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Developmenttakesplaceindis?nctstagesofcogni?vedevelopment.
childdevelopmentPiaget’sassump?ons
45Dr.Oubba?,March2012
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Developmenttakesplaceindis?nctstagesofcogni?vedevelopment.
Sensorimotor(~Birth to 2 yrs) achievingsimplegoalsinasensorimotorspace
childdevelopmentPiaget’sassump?ons
46Dr.Oubba?,March2012
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Developmenttakesplaceindis?nctstagesofcogni?vedevelopment.
Sensorimotor(~Birth to 2 yrs) achievingsimplegoalsinasensorimotorspace
Preopera?onal(~2 to 6 yrs) Represen?ngtheworld,andgobeyondtheconnec?onofsensorimotorinforma?on.
childdevelopmentPiaget’sassump?ons
47Dr.Oubba?,March2012
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Developmenttakesplaceindis?nctstagesofcogni?vedevelopment.
Sensorimotor(~Birth to 2 yrs) achievingsimplegoalsinasensorimotorspace
Preopera?onal(~2 to 6 yrs) Represen?ngtheworld,andgobeyondtheconnec?onofsensorimotorinforma?on.
ConcreteOpera?onal(~ 7-12 yrs) reasoninglogicallyaboutevents.
childdevelopmentPiaget’sassump?ons
48Dr.Oubba?,March2012
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Developmenttakesplaceindis?nctstagesofcogni?vedevelopment.
Sensorimotor(~Birth to 2 yrs) achievingsimplegoalsinasensorimotorspace
Preopera?onal(~2 to 6 yrs) Represen?ngtheworld,andgobeyondtheconnec?onofsensorimotorinforma?on.
ConcreteOpera?onal(~ 7-12 yrs) reasoninglogicallyaboutevents.
FormalOpera?onal(adolescence to adult)
reasoninginamoreabstract,idealis?c,andlogicalway.
childdevelopmentPiaget’sassump?ons
49Dr.Oubba?,March2012
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Piagetdidnotemphasizeontheroleofsocialinterac?on.
childdevelopmentPiaget’sassump?ons
50Dr.Oubba?,March2012
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LevVygotsky(1896‐1934)
(Psychologist)
Mostofachild’scogni?veskillsevolvefromsocialinterac?ons
childdevelopment
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LevVygotsky(1896‐1934)
(Psychologist)
Mostofachild’scogni?veskillsevolvefromsocialinterac?ons
childdevelopment
Developmentoccurswithinthe„zoneofproximaldevelopment“
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rangeoftasksthataretoocomplextobemasteredalonebutcanbeaccomplishedwithguidance.
Vygotsky’sassump?on
ZoneofProximalDevelopment
childdevelopment
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Childcan ChildcannotZoneofProximal
Development
Vygotsky’sassump?on
ZoneofProximalDevelopment
Learning/Development
54
childdevelopment
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55Dr.Oubba?,March2012
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56
Socialengagement
Individu
alcapabili?e
s
ZoneofProximalDevelopment
Sensorimotor
Preopera?onal
ConcreteOpera?onal
FormalOpera?onal
Dr.Oubba?,March2012
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…sohowcanwecreateasystemthatexhibitsautonomousdevelopment?
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…sohowcanwecreateasystemthatexhibitsautonomousdevelopment?
Weneed„informal“defini?onsforintelligence,anyway…..
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…sohowcanwecreateasystemthatexhibitsautonomousdevelopment?
Iwillcallthemsignsofintelligence
Weneed„informal“defini?onsforintelligence,anyway…..
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• Learn(understand)fromexperience.
• Usereasoningtosolveproblems.
• Adaptquicklyandsuccessfullytonewsitua?ons.
• Usetheacquiredknowledgetomanipulatetheenvironment.
[R. J. Sternberg, editor. Handbook of Intelligence. Cambridge University Press, 2000.] [U. Neisser, et. al., Intelligence: Knowns and unknowns. American Psychologist, 51(2):77–101, 1996.]
SignsofIntelligence(possiblytheiraremanyother)
Howtocreateautonomousdevelopment?
60Dr.Oubba?,March2012
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• Learn(understand)fromexperience.
• Usereasoningtosolveproblems.
• Adaptquicklyandsuccessfullytonewsitua?ons.
• Usetheacquiredknowledgetomanipulatetheenvironment.
SignsofIntelligence(possiblytheiraremanyother)
Howtocreateautonomousdevelopment?
61Dr.Oubba?,March2012
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Themostcommonideaofthesesignscanbesummarizedas
intelligenceisapropertyofasystemthatisinterac?ngsuccessfullywithaproblem,oranenvironment.
SignsofIntelligence
Howtocreateautonomousdevelopment?
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Tocreateautonomousdevelopmentwehavetodesign1)adevelopmentallearningprocess,2)thatinteractswithrealenvironments.
Howtocreateautonomousdevelopment?
63Dr.Oubba?,March2012
controlarchitectureThatcanlearnanddevelop
Environment
Thatsupportsthisdevelopment
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BrainPhysicalbody
Interac?ngwiththeenvironmentrequiresaphysicalbody
environment
Howtocreateautonomousdevelopment?
64Dr.Oubba?,March2012
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Howimportantisthebodytodevelopment?
Howtocreateautonomousdevelopment?
65Dr.Oubba?,March2012
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Thebodyfacilitateslearningfromthephysicalenvironment
iCub‐robot(EU‐projects)
Theroleofthebody
Explora?on,Experimenta?on,...
Howtocreateautonomousdevelopment?
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RobotKismet(MIT)
Imita?on,Learningfromdemonstra?on,etc.
Thebodyfacilitateslearningfromsocialenvironment
TheroleofthebodyHowtocreateautonomousdevelopment?
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Buttheactual„classic“robo?cists(conven?onalAI)neverdisputedtheimportanceofthephysicalbodytotheirresearch.
TheroleofthebodyHowtocreateautonomousdevelopment?
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Somepeoplebelievethatjustconnec?ngacomputertosensorsandplacingitonwheelsissufficienttocreatethe„body“whichisrequiredforintelligence.
TheroleofthebodyHowtocreateautonomousdevelopment?
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Intelligencerequiresabodywhichhastobeabletoembodycogni?veprocesses,thataffectsandbeaffectedbytheenvironment.
Theroleofthebody
Somepeoplebelievethatjustconnec?ngacomputertosensorsandplacingitonwheelsissufficienttocreatethe„body“whichisrequiredforintelligence.
Howtocreateautonomousdevelopment?
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Intelligencerequiresabodywhichhastobeabletoembodycogni?veprocesses,thataffectsandbeaffectedbytheenvironment.
Thisistheno?onofEmbodiment
Theroleofthebody
Somepeoplebelievethatjustconnec?ngacomputertosensorsandplacingitonwheelsissufficienttocreatethe„body“whichisrequiredforintelligence.
Howtocreateautonomousdevelopment?
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Embodimentvs.Body
Thefundamentaldifferenceliesinthedegreeofinterac?onbetweenthebodyandthebrain(controlprogram).
TheroleofthebodyHowtocreateautonomousdevelopment?
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Let’sconsideranembodiedagent...
TheroleofthebodyHowtocreateautonomousdevelopment?
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assumethatthisagentisinterac?ngwithacomplexenvironment
TheroleofthebodyHowtocreateautonomousdevelopment?
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Conventional AIseeksanexactrepresenta?onoftheexternalworldinordertoachievethedesiredtask.
TheroleofthebodyHowtocreateautonomousdevelopment?
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Theroleofthebody
TheBodyhereisusedjustasanobserver...
Conventional AIseeksanexactrepresenta?onoftheexternalworldinordertoachievethedesiredtask.
Howtocreateautonomousdevelopment?
Dr.Oubba?,March2012
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Theroleofthebody
However,theexternalworldistoocomplex,andrequiresnotjustcon?nualobserva?on,butalsoreasoningandadapta?on.
TheBodyhereisusedjustasanobserver...
Conventional AIseeksanexactrepresenta?onoftheexternalworldinordertoachievethedesiredtask.
Howtocreateautonomousdevelopment?
Dr.Oubba?,March2012
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Theroleofthebody
TheBodyhereisusedjustasanobserver...
Furthermore,Knowledge(abouttheenvironment)isnoteverything.
Conventional AIseeksanexactrepresenta?onoftheexternalworldinordertoachievethedesiredtask.
Howtocreateautonomousdevelopment?
Dr.Oubba?,March2012
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Theroleofthebody
Onlybylearningfrominterac?ontheagentwillbeabletounderstandtheenvironment,andusethisknowlegetoachieveitsgoals.
Howtocreateautonomousdevelopment?
Dr.Oubba?,March2012
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Howtodesignadevelopmentallearningprocess?
Howtocreateautonomousdevelopment?
80Dr.Oubba?,March2012
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DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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Evensimplecreaturesdiscovernewstrategiesandtechniquestogetsurvivalresources,ortofightpredators.
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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Backtoouragent…
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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Whatdrivestheagenttolearn?
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
Dr.Oubba?,March2012 84
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Whatdrivestheagenttolearn?
Task
…bygivingitatask?
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
Dr.Oubba?,March2012 85
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Notonly
Whatdrivestheagenttolearn?
DevelopmentalArchitecture
…bygivingitatask?
Howtocreateautonomousdevelopment?
86Dr.Oubba?,March2012
Task
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Notonly
Whatdrivestheagenttolearn?
DevelopmentalArchitecture
…bygivingitatask?...buthowtoprogramanagentwithoutknowingthe
task!?
Howtocreateautonomousdevelopment?
87Dr.Oubba?,March2012
Task
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Whatdrivestheagenttolearn?
DevelopmentalArchitecture
Mo?va?on?
Howtocreateautonomousdevelopment?
88Dr.Oubba?,March2012
Task
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Whatdrivestheagenttolearn?
DevelopmentalArchitecture
Mo?va?on? Thismightwork...
Howtocreateautonomousdevelopment?
89Dr.Oubba?,March2012
Task
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Mo?va?oniswhatgetsustoact.
Psychology
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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Therearetwomaincategoriesofmo?va?on
Intrinsicmo?va?on
doingsomethingjustbecauseitisenjoyable.(eg.curiosity)
doingsomethingbecauseitleadstoexternalrewards.(e.g.hunger)
Extrinsicmo?va?on
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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sa?sfac?on+
‐consump?on
(InspiredbythePSItheoryproposedbythepsychologistDietrichDörner)
Amo?veasacontainer
Thefillingstateofthecontainerrepresentsthedegreeofsa?sfac?on.
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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Gatheringresources+
‐ energyconsump?on
Extrinsicmo?va?on
Hunger
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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ExploringNovelty+
‐ Predictabilityoftheenviroment
Intrinsicmo?va?on
Curiosity
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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Hun
ger
Curiosity
DevelopmentalArchitecture
BodyMind
Howtocreateautonomousdevelopment?
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Curiosity
DevelopmentalArchitecture
Hun
ger
Mo?veswilldrivetheagenttolearnasmuchaspossibleabouttheenvironment.
Howtocreateautonomousdevelopment?
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Curiosity
DevelopmentalArchitecture
Hun
ger
Theneedsofthebodyandthoseofthemindmaycompeteincertaincircumstances.
Howtocreateautonomousdevelopment?
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Curiosity
DevelopmentalArchitecture
Hun
ger
Associa?ngimportancetoonemo?veovertheotherisconstantlyre‐evaluatedbyexperience.
Howtocreateautonomousdevelopment?
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Curiosity
DevelopmentalArchitecture
Hun
ger
Learninghowtobalancebetweenmo?veswillprovidetheagenttheabilitytosolveafacedprobleminseveralways.
Thus,moreflexibility(authority)inhandlingsitua?ons.
Howtocreateautonomousdevelopment?
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howtoar?culatepreferencesamongmo?ves?
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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howtoar?culatepreferencesamongmo?ves?
DevelopmentalArchitecture
Weconsiderthisasamul?objec?veproblem.
Howtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Weproposeahierarchicaladap?ve‐cri?cdesign(ACD)thatallowsanembodiedagenttoadaptitsbehaviorinpresenceofseveralmo?ves.
Howtosolvemul?objec?veproblems?
Howtocreateautonomousdevelopment?
102Dr.Oubba?,March2012
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Theproposedarchitectureismainlybasedonreservoircompu?ng.
DevelopmentalArchitecture
Reservoir
Onlytheoutputconnec?onsaretobetrained
Howtosolvemul?objec?veproblems?
Howtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Howtosolvemul?objec?veproblems?
Cri?c1
Cri?c2
Cri?cN
Ahigherlevelreservoirmayserveasacri?ctolearnseparatevaluefunc?onsforeachmo?vesimulatneously.
High‐levelACD
Howtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Howtosolvemul?objec?veproblems?
Cri?c1
Cri?c2
Cri?cN
1. Thiswouldhaveanadvantagetolearnfromseparatestatespacesspeeduplearning.
High‐levelACD
Howtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Howtosolvemul?objec?veproblems?
Cri?c1
Cri?c2
Cri?cN
2.Theabilitytolearnfromheterogenousdatawiththesameweights(i.e.memoryisintherecurrentac?va?on,notonlyinthesynap?cweights)thereservoirwouldbeabletocopewiththeconflic?ngdemandsimposedbythemo?ves.
High‐levelACD
Howtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Howtosolvemul?objec?veproblems?
Low‐levelACDs
Atalowlevelseveralreservoirsmayhavetheroletolearnop?malbehaviorfromthecon?nuousanduncertainstatespacetosa?sfytheselectedmo?ves.
γ
Howtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Howtosolvemul?objec?veproblems?
Low‐levelACDsγ
Thus,ouragentrunsseveralACDsinparallelthatlearnfromdifferentstatespaces.
Howtocreateautonomousdevelopment?
108Dr.Oubba?,March2012
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DevelopmentalArchitecture
HierarchicalACDwithreservoircompu?ngtosolvemul?objec?veproblems
Howtocreateautonomousdevelopment?
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M.Oubba?,J.Uhlemann,andG.Palm(2012),Adap7velearningincon7nuousenvironmentusingactor‐cri7cdesignandecho‐statenetworks.FROMANIMALSTOANIMATS(SAB12).
DevelopmentalArchitecture
ACDwithreservoircompu?ng:preliminaryresults
Howtocreateautonomousdevelopment?
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Currently,weareworkingonthisdevelopmentallearningsystem
DevelopmentalArchitectureHowtocreateautonomousdevelopment?
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DevelopmentalArchitecture
Weimaginehowtheagentexplorestheenvironmentinordertosa?sfyistinborndrives.Weimaginehowitcon?nuallywantstomastertheenvironment,andhowitdoeasistbesttosuccessfullyfacechallenges.Weimaginehowthisagentasksforsocialinterac?ontolearnfromhumans,whatitcannotlearnindependently...Thisiswhatwewanttorealize.
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OncethefirstAGIisbuilt,itisdifficulttopredictwhatfurtherdegreesofintelligencecanbebuilt.
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Ifthesegoalsarenotorientedtoourneeds,itwouldleadtounpredictable,andprobablydangerous,consequencesforoursurvival.
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Danke
131Dr.Oubba?,March2012