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
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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
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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
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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.
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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
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The Big 3 of RoboticsThe Big 3 of Robotics
SenseSense PlanPlan ActAct
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Intelligent Mobile Agents - Intelligent Mobile Agents - IssuesIssues
AwarenessAwareness AutonomyAutonomy MobilityMobility KnowledgeKnowledge ActionAction ControlControl CooperationCooperation CommunicationCommunication
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AwarenessAwareness SensingSensing
SituatednessSituatedness The worldThe world Effect of actionsEffect of actions SelfSelf
KnowingKnowing WhatWhat WhereWhere HowHow WhenWhen
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AutonomyAutonomy
PurposePurpose DirectionDirection DecisionDecision
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MobilityMobility
LocationLocation ChangeChange DirectionDirection
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ActionAction
PurposePurpose PlanningPlanning DecisionDecision BehaviorBehavior
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ControlControl
CoordinationCoordination TimingTiming KnowledgeKnowledge
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CooperationCooperation Human-robot cooperationHuman-robot cooperation Multi-robot cooperationMulti-robot cooperation Conscious coordinationConscious coordination Emergent behaviorEmergent behavior
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CommunicationCommunication
Human-robot communicationHuman-robot communication Robot-robot communicationRobot-robot communication Sub-cognitive communicationSub-cognitive communication Cognitive communicationCognitive communication
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AI Issues in Robotics AI Issues in Robotics Spatial Cognition: A Case StudySpatial Cognition: A Case Study
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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). ).
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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
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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
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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”
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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
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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
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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
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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
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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
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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
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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
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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.
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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
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AI Issues in RoboticsAI Issues in Robotics AwarenessAwareness
VisionVision Sensor interpretationSensor interpretation Knowledge acquisitionKnowledge acquisition LearningLearning
AutonomyAutonomy Cognitive basisCognitive basis PlanningPlanning DecisionDecision
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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
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AI Issues in RoboticsAI Issues in Robotics KnowledgeKnowledge
Knowledge representationKnowledge representation Knowledge acquisitionKnowledge acquisition LearningLearning MetaknowledgeMetaknowledge
ActionAction PlanningPlanning DecisionDecision UnderstandingUnderstanding
» CausalityCausality» ConsequencesConsequences
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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
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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
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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
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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
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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
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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
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Conclusions regarding Conclusions regarding Intelligent Robotics (IR)Intelligent Robotics (IR)
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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
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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