Cassie as a
Self-Aware SNePS/GLAIR Agent
Stuart C. Shapiro
Department of Computer Science and Engineering,
and Center for Cognitive Science
University at Buffalo, The State University of New York
201 Bell Hall, Buffalo, NY 14260-2000
shapiro@cse.buffalo.edu
http://www.cse.buffalo.edu/~shapiro/
What is it?
• A computational cognitive agent that can:
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Understand and communicate in English;
Discuss specific, generic, and “rule-like” information;
Reason;
Discuss acts and plans;
Sense;
Act;
Maintain a model of itself;
Remember and report what it has sensed and done.
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Cassie, the FEVAHR
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Simulated FEVAHR
Cassie
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UXO Remediation
Corner flag
Field
Drop-off zone
UXO
NonUXO object
Battery
meter
Corner flag
Cassie
Safe zone
Corner flag
Recharging
Station
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Crystal Cassie
First Person Perspective Views
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Princess from
“The Trial, The Trail”
A VR drama by Josephine Anstey
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Patofil and Filopat
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Magellan ProTM Mobile Robot
from
iRobot
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GLAIR Architecture
Grounded Layered Architecture with Integrated Reasoning
Knowledge Level
Mind
B
o
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y
SNePS
Perceptuo-Motor Level
deictic & modality registers
& primitive-action procedures
IP Sockets
NL
Sensory-Actuator Level
Vision
Sonar
Proprioception
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Motion
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SNePS
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A logic-based KR system
using reified propositions
with special constructs for acts
and an acting executive
as well as an inference engine
with an ATMS.
From a Wumpus World agent:
– all(r)(Isa(r,room)
=> whendo(In(r), believe(~Contains(r,pit)))).
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Kinds of Self-Awareness
in Cassie
• Static beliefs (non-fluents) about herself
Knows and recognizes her name.
– My name is `Cassie’.
• Has first-person, privileged knowledge of ,
remembers, and can tell what she’s done.
Has a sense of time, including “now”.
Knows whom she is conversing with.
– I talked to Bill and I am talking to you.
• Has self-perception of what she says.
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Basic Approach to
Essential Self-Awareness
• Beliefs about self at KL (mind)
inserted by PML (body).
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How It’s Implemented
at the KL
• SNePS term denoting Cassie
– Used in all beliefs about herself.
• SNePS terms denoting times
– To relate acts/events
• Representation of acts is the same
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For acts to be done by Cassie
For acts done by Cassie
For acts done by other agents
For acting
For NL interaction
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How It’s Implemented
at the PML
• Deictic Registers
– I = SNePS term denoting Cassie
– NOW = SNePS term denoting current time
– YOU = SNePS term denoting conversational
partner
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How It’s Implemented
at the PML
• Modality Registers
– For current acts
• Vision modality register
– KL term of entity Cassie’s currently looking at
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How It’s Implemented
at the PML
• Lisp implementation of KL primitive acts
• Implementation of act a inserts KL belief that
I did a NOW
and moves NOW.
= First person, privileged belief.
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Multi-Computer VR Agents
KL
SNePS terms
PMLa deictic & modality registers
primitive-action
procedures
PMLb
IP Sockets
PMLc
SAL
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hardware drivers
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Body-Mind Feedback
Most Difficult Issue
• When should mind move to next step of plan?
• When sense that goal of previous step has been
achieved.
• For speech sequence:
when hear self over self-perception socket.
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Next Steps
• Since awareness of acting is
added by implementation of primitive acts,
don’t yet have awareness of non-primitive acts.
• Put all this in architecture,
so agent implementers needn’t be concerned.
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