A Cognitive Map for an Artificial Agent

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A Cognitive Map for an Artificial Agent

• Unmesh Kurup
• RPI
• kurupu_at_rpi.edu
• B. Chandrasekaran
• The Ohio State University
• chandra_at_cse.ohio-state.edu

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Overview

• Cognitive map
• Features
• Goals
• biSoar architecture
• Cognitive Map in biSoar
• Examples

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Cognitive Map
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Cognitive Map

• Representation of large-scale space

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Cognitive Map

• Representation of large-scale space
• Layout of a city

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Cognitive Map

• Representation of large-scale space
• Layout of a city or a building

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Cognitive Map

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

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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.

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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?

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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.

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Features of the Cognitive Map
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Features of the Cognitive Map

• Non-holistic

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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.
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Features of the Cognitive Map

• Non-holistic
• manageable

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Features of the Cognitive Map

• Non-holistic
• Manageable

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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
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Features of the Cognitive Map

• Non-holistic
• Manageable, updateable,

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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
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Features of the Cognitive Map

• Non-holistic
• Manageable, updateable, composable

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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
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Features of the Cognitive Map

• Non-holistic
• Manageable, updateable, composable
• Has both symbolic and metric aspects

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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
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Goals

• Capture features
• A nonholistic representation with both symbolic
  and metric aspects

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Goals

• Capture features
• A nonholistic representation with both symbolic
  and metric aspects
• Cognitive architecture approach

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biSoar

• A Bimodal Cognitive Architecture

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biSoar

• Soar Diagrammatic Representation System (DRS)

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DRS - Diagrammatic Representation System (Chandra
et. al. 2004)

• Diagrams consist of three types of objects
  Points, Curves Regions.

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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

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biSoar
Soar
World
Working Memory Block (A), Block (B), Block (C),
On (A,B), On (B,C)
Selected Operator None
biSoar
Soar WM
DRS
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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.

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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.

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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

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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
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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

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Learning while route-finding
Example rules learned during wayfinding
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Within-task transfer

• Task1 P1 to R3R5

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Within-task transfer

• Task1 P1 to R3R5, Task2 P4 to P2

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Within-task transfer

• Task1 P1 to R3R5, Task2 P4 to P2
• New route-finding task P4 to R3R5

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Between-task transfer

• Geographic Recall problem
• Whats the spatial relation between R1R3 and
  R3R5?

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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
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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
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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
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Conclusion

• biSoars 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.

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Thanks!