1. Roma, Meeting Mindraces 2-3 October 2006 ISTC-CNR Achievements MindRACES: From Reactive to Anticipatory Cognitive Embodied Systems (FP6-511931)

2. Roma, Meeting Mindraces 2-3 October 2006 Which is our goal  Scenario: Guards and Thieves  Architecture of the Guard:  Intention Management goals are selected on the basis of reasons, i.e. beliefs an adopted goal corresponds now the activation of an Intention (intend to do a certain action/plan realizing the goal)  Planning Once an Intention is adopted, the Planner selects/builds a suitable course of actions to achieve it  Actuation and Adaptation actuation of the plans by the means of sensorimotor interactions any action, even if deliberated and planned, in order to be realized has to be implemented by the means of low level, sensorimotor interactions

3. Roma, Meeting Mindraces 2-3 October 2006 The Role of Expectations  low level:  directly matched with perceptions  short ranged  strategic planning  select among goals and plans  long-ranged  not matched with perceptions, but with goals

4. Roma, Meeting Mindraces 2-3 October 2006 Current work  Actuation and adaptation  Presented at SAB 2006  Development of concepts and abstraction  Presented ad EPIROB 2006  Intention management and planning  To be presented at IJCAI 2007

5. Roma, Meeting Mindraces 2-3 October 2006 Actuation and Adaptation

6. Roma, Meeting Mindraces 2-3 October 2006 Schema Based Design  Two kinds of schemas: perceptual schemas and motor schemas Arbib (1992), Arkin et al. (2000), Piaget (1954), Roy (2005) agent environment

7. Roma, Meeting Mindraces 2-3 October 2006 Expectations matched with Perception

8. Roma, Meeting Mindraces 2-3 October 2006 Cooperation between schemas  Typically many schemas cooperate for realizing one behavior…  …but “mixed” courses of actions also emerge from the contribute of schemas realizing different behaviors Red = avoid obstacle Blue = stay in path

9. Roma, Meeting Mindraces 2-3 October 2006

10. Competition between behaviors Red = fear Blue = detect predator Black = detect prey

11. Roma, Meeting Mindraces 2-3 October 2006

12. Effects of Drives not very hungry very hungry

13. Roma, Meeting Mindraces 2-3 October 2006 Anticipatory vs. Reactive Systems  MANTIS  already described  MANTIS-R  not using prediction for assigning priority

14. Roma, Meeting Mindraces 2-3 October 2006 Development of Concepts

15. Roma, Meeting Mindraces 2-3 October 2006

16. Developing Simulators/Categories  Simulator = cluster of schemas  perceptual and motor schemas having coordinated patterns of prediction evolve energetic links  differential hebbian learning  coherence in prediction  informativeness  schemas can spread activation to each other via the evolved links  distributed architecture  K-means cluster analysis (euclidean distance of activity level): 16 clusters for 20 insects

17. Roma, Meeting Mindraces 2-3 October 2006 Developing categories for abstract entities  We introduced two drives: fear and hunger  Two nodes in a Fuzzy Cognitive Map (Kosko 1992) with inhibitory links  …and let the system leanr new schemas for avoiding  We divided insects into predators and preys…  close predators increase fear, absence of predators decreases it  close preys + a biological clock increase hunger, reaching preys decreases it  …and used again differential hebbian learning  fear evolves links with schemas for avoiding; hunger with following  Abstraction = the role played by entities  A new way of clustering entities according to the needs of the agent Kosko, B. (1992). Neural Networks and Fuzzy Systems. Prentice Hall International, Singapore.

18. Roma, Meeting Mindraces 2-3 October 2006 Intentions Management and planning

19. Roma, Meeting Mindraces 2-3 October 2006 Intention Management Competing goals: Have V, escape guard -> Have V Plan: find V Subgoal: search living Plan: pass 5

20. Roma, Meeting Mindraces 2-3 October 2006 Intention Management

21. Roma, Meeting Mindraces 2-3 October 2006 Future Work: bridging the gap from actuation to intentionality  Long term expectations and evaluations Planning = evaluating/comparing alternative courses of actions schema --> successlong term effects evaluation 2. Hierarchies 3. From Drives to Goals

22. Roma, Meeting Mindraces 2-3 October 2006 Thank You! contact: giovanni.pezzulo@istc.cnr.it MindRACES: From Reactive to Anticipatory Cognitive Embodied Systems (FP6-511931)