Cognitive Maps for Artificial Agents: Functionality and Architecture

1. A Cognitive Map for an Artificial Agent Unmesh Kurup RPI kurupu@rpi.edu B. Chandrasekaran The Ohio State University chandra@cse.ohio-state.edu

2. Overview • Cognitive map • Features • Goals • biSoar architecture • Cognitive Map in biSoar • Examples

3. Cognitive Map

4. Cognitive Map • Representation of large-scale space

5. Cognitive Map • Representation of large-scale space • Layout of a city

6. Cognitive Map • Representation of large-scale space • Layout of a city or a building

7. Cognitive Map • Representation of large-scale space • Layout of a city or a building • Supports a number of problem solving tasks.

8. Cognitive Map • Representation of large-scale space • Layout of a city or a building • Supports a number of problem solving tasks. • Route-finding: How can I get to the Radisson from here? • Exit the hotel, Take a left, Right at 23rd St, Right on Clark.

9. Cognitive Map • Representation of large-scale space • Layout of a city or a building • Supports a number of problem solving tasks. • Geo Recall: Is your hotel to the west of this hotel?

10. Cognitive Map • Representation of large-scale space • Layout of a city or a building • Supports a number of problem solving tasks. • Finding shortcuts: Is there a shorter way to my hotel? • Possible: Take a right on 20th st.

11. Features of the Cognitive Map

12. Features of the Cognitive Map • Non-holistic

13. Features of the Cognitive Map • Non-holistic If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark.

14. Features of the Cognitive Map • Non-holistic • manageable

15. Features of the Cognitive Map • Non-holistic • Manageable

16. Features of the Cognitive Map • Non-holistic • Manageable If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark. vs If you take a right on Clark you will get to your hotel

17. Features of the Cognitive Map • Non-holistic • Manageable, updateable,

18. Features of the Cognitive Map • Non-holistic • Manageable, updateable, If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St If you take a right on 20th St, you will get to the intersection of 20th St and Clark. If you take a right on 23rd St, you will get to the intersection of 23rd St and Clark. New info? Just add it! If you take a right on Clark you will get to your hotel

19. Features of the Cognitive Map • Non-holistic • Manageable, updateable, composable

20. Features of the Cognitive Map • Non-holistic • Manageable, updateable, composable If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St If you take a right on 20th St, you will get to the intersection of 20th St and Clark. If you take a right on Clark you will get to your hotel

21. Features of the Cognitive Map • Non-holistic • Manageable, updateable, composable • Has both symbolic and metric aspects

22. Features of the Cognitive Map • Non-holistic • Manageable, updateable, composable • Has both symbolic and metric aspects If you take a left on Crystal Dr, you will get to the intersection of Crystal Dr and 23rd St

23. Goals • Capture features • A non–holistic representation with both symbolic and metric aspects

24. Goals • Capture features • A non–holistic representation with both symbolic and metric aspects • Cognitive architecture approach

25. biSoar A Bimodal Cognitive Architecture

26. biSoar • Soar + Diagrammatic Representation System (DRS)

27. DRS - Diagrammatic Representation System (Chandra et. al. 2004) • Diagrams consist of three types of objects – Points, Curves & Regions.

28. DRS - Diagrammatic Representation System (Chandra et. al. 2004) • Perceptual routines allow extraction of relationships between objects in the diagram. • Ex: LeftOf, RightOf etc • Action routines allow the diagram to be modified • AddPoint, AddCurve etc

29. Working Memory Symbolic component: Block (A), Block (B), Block (C), On (A,B), On (B,C) Selected Operator: None Diagrammatic component A B C biSoar Soar World Working Memory: Block (A), Block (B), Block (C), On (A,B), On (B,C) Selected Operator: None biSoar Soar WM DRS

30. LTM and Learning in biSoar • No change to LHS of LTM rules in biSoar • RHS can extract information from or modify diagrammatic component as well. • If a and b are clear and goal is on(a,b) then translate(a on b) • Chunking in the bimodal case is straightforward.

31. biSoar • Soar + Diagrammatic Representation System (DRS) • biSoar does not do • Any sort of image processing • Object recognition • Assumes • a diagrammatic representation (DRS form) of the input is available.

32. Representing LSS in biSoar If goal is find_next_location and curr location is x and traveling in direction Dx on route Rx, then destination is location y, diagram is DRSx

33. R4 R5 R1 R3 R2 Representing LSS in biSoar If goal is find_next_location and curr location is A and traveling in direction Dx on route Rx, then destination is location B, diagram is DRSx If goal is find_next_location and curr location is R2R5 and traveling Right on Route R2, then destination is P2, diagram is DRS1

34. Examples – Route-finding • Given a map, find route from P1 to P2 • Route-finding Strategy • locate the starting & destination locations in the map • make the starting location the current location • Find the routes on which the current location lies • For each route, find the directions of travel • for each route and direction of travel, find the next location • calculate the Euclidean distance between these new locations and the destinations • pick the location that is closest to the destination and make that the current point • repeat 3-8 until destination is reached

35. Learning while route-finding Example rules learned during wayfinding

36. R4 R5 R1 R3 R2 Within-task transfer • Task1 – P1 to R3R5

37. R4 R5 R1 R3 R2 Within-task transfer • Task1 – P1 to R3R5, Task2 – P4 to P2

38. R4 R5 R1 R3 R2 Within-task transfer • Task1 – P1 to R3R5, Task2 – P4 to P2 • New route-finding task – P4 to R3R5

39. Between-task transfer • Geographic Recall problem • What’s the spatial relation between R1R3 and R3R5?

40. Finding short-cuts R4 If goal is find_routes and at R2R5 then there is a route r5 in the up direction. R1 R3 R2

41. Finding short-cuts R4 If goal is find_routes and at R2R5 then there is a route r5 in the up direction. R1 R3 Find route from P2 to P5 R2

42. Finding short-cuts R4 If goal is find_routes and at R2R5 then there is a route r5 in the up direction. R1 R3 Find route from P2 to P5 R2 R3 R5 R2

43. Conclusion • biSoar’s CM (representation of LSS) • Is non-holistic • has metric and non-metric information • Can be used to solve a variety of tasks involving LSS. • Supports learning and transfer of learned information within and between tasks.

44. Thanks!