Biological Foundations of the Reactive Paradigm
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Transcript of Biological Foundations of the Reactive Paradigm
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 1
3 Biological Foundations of the Reactive Paradigm
ReviewWhy?-comp. theoryIRMPerception-Summary
• Describe the three levels in a Computational Theory.
• Explain in one or two sentences each of the following terms: reflexes, taxes, fixed-action patterns, schema, affordance.
• Be able to write pseudo-code of an animal’s behaviors in terms of innate releasing mechanisms, identifying the releasers for the behavior.
• Given a description of an animal's sensing abilities, its task, and environment, identify an affordance for each behavior.
• Given a description of an animal's sensing abilities, its task, and environment, define a set of behaviors using schema theory to accomplish the task.
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 2
3 Robots In the Hierarchical Paradigm
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 3
3 Timeline of Influences
1980 19901970
Braitenberg’sVehicles
Arbib’sSchemas
Tinbergen &Lorenz & von Frisch
Marr’s ComputationalTheory
J.J. Gibson
Neisser
Middlestat
Arkin’s Schemas
Brook’s Insects
Payton
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 4
3 Marr’s Computational Theory
Level 1:What is the phenomena
we’re trying to represent?
for (i=nCol..Level 2:How it be represented as
a process with inputs/outputs?
Level 3:How is it implemented?
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 5
3 Level 1: Existence Proof
Level 1:What is the phenomena
we’re trying to represent?
Goal: how to make line drawings of objects?
people can do this by age 10, computers should
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 6
3Level 2: Inputs, Outputs, Transforms
for (i=nCol..Level 2:How it be represented as
a process with inputs/outputs?
light drawing
retina(gradient)
light lines (edges) drawing
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 7
3 Level 3: Implementation
Level 3:How is it implemented?
+-
-
-
--
- -
-
Center Surround Cellin retinal ganglion
Sobel Edge Detectorin computer vision
0 +2
+10-1
-2
-1 0 +1
0 0
-1-2-1
0
+1 +2 +1
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 8
3 Class Discussion
• Give three examples of how biology has informed modern technology?
– ex. Wright Brothers- control flaps on airplane wings
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 9
3 Behavior Definition (graphical)
BEHAVIOR
SensoryInput
Patternof MotorActions
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 10
3 Types of Behaviors
• Reflexive – stimulus-response, often abbreviated S-R
• Reactive – learned or “muscle memory”
• Conscious – deliberately stringing together
WARNING Overloaded terms:Roboticists often use “reactive behavior” to mean purely reflexive,
And refer to reactive behaviors as “skills”
WARNING Overloaded terms:Roboticists often use “reactive behavior” to mean purely reflexive,
And refer to reactive behaviors as “skills”
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3 Ethology: Coordination and Control of Behaviors
Nobel 1973 in physiology or medicine•von Frisch•Lorenz•Tinbergen
www.nobel.se
INNATE RELEASING MECHANISMSINNATE RELEASING MECHANISMS
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 12
3 Arctic Terns
• Arctic terns live in Arctic (black, white, gray environment, some grass) but adults have a red spot on beak
• When hungry, baby pecks at parent’s beak, who regurgitates food for baby to eat
• How does it know its parent?– It doesn’t, it just goes for the largest red spot in its field of
view (e.g., ethology grad student with construction paper)
– Only red thing should be an adult tern
– Closer = large red
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 13
3 behavior template
BEHAVIOR
SensoryInput
Patternof MotorActions
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 14
3 “the feeding behavior”
FeedingBEHAVIOR
SensoryInput
Patternof MotorActions
RED PECK AT RED
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3 the releaser template
Releaser
present? N
Y
/dev/null
Sensory inputand/or
internal state
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3 “the feeding releaser”
FeedingBEHAVIOR
RED PECK AT RED
Releaser
present? N
Y
/dev/null
internal state
RED &HUNGRY
sensory input
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3 Innate Releasing Mechanisms
BEHAVIOR
SensoryInput
Patternof MotorActions
Releaser
present? N
Y
/dev/null
Sensory inputand/or
internal state
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 18
3 Example: Hide Behavior
• Programmed in C++, << 100 LOC
• shows – taxis (oriented relative to light, wall, niche)– fixed action pattern (persisted after light was
off)– reflexive (stimulus, response)– impliciting sequencing– use of internal state
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3 Example: Cockroach Hide
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
• even if the lights are turned back off earlier
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 20
3 Reflexive Behaviors S-R
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
• even if the lights are turned back off earlier
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 21
3 Fixed Pattern Actions
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
• even if the lights are turned back off earlier
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 22
3 Exhibits Taxis
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
• even if the lights are turned back off earlier
to light
to wall
to niche
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 23
3 Class Exercise
• Draw flowchart of how this works
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
• even if the lights are turned back off earlier
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
• even if the lights are turned back off earlier
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3 Break into Behaviors
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
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3 Find Releasers
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
LIGHT
present?N
Y
SCARED &SURROUNDED
present?N
LIGHT
present?N Ooops, need internal state:
ScaredOoops, need internal state:
Scared
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3 Internal State Set
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
LIGHT
present?N
Y
SCARED &SURROUNDED
present?N
BLOCKED &SCARED
present?N
SCARED
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 27
3 Action
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
LIGHT
present?N
Y
SCARED &SURROUNDED
present?N
BLOCKED &SCARED
present?N
SCARED
steer 360,drive forward
steer =F(dist to wall)drive forward const.
steer =F(dist to wall)drive forward const.
stop
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 28
3 Sensory Input
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
LIGHT
present?N
Y
SCARED &SURROUNDED
present?N
BLOCKED &SCARED
present?N
SCARED
steer 360,drive forward
steer =F(dist to wall)drive forward const.
steer =F(dist to wall)drive forward const.
stop
encoders
IR
IR
IR
IR
IR
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3 How Do You Link Them?
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
LIGHT
present?N
Y
SCARED &SURROUNDED
present?N
BLOCKED &SCARED
present?N
SCARED
steer 360,drive forward
steer =F(dist to wall)drive forward const.
steer =F(dist to wall)drive forward const.
stop
encoders
IR
IR
IR
IR
IR
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 30
3 Analogy:IRMs work on THREADS,not sequential processing!
• Very simple modules
• Nice building blocks since not directly linked
• If one module (part of brain) fails, what happens?
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3 What happens when there’s a conflict from concurrent
behaviors?
• Equilbrium– Feeding squirrels-feed,
flee: hesitate in-between
• Dominance– Sleepy, hungry: either
sleep or eat
• Cancellation– Sticklebacks defend,
attack: build a nest
?
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3 Perception
• Two uses of perception (can be the same percept)– Release a behavior– Guide a behavior
• Action-oriented perception (Neisser)– Planning is not needed to act – Perception is selective
CognitiveActivity
World
Perceptionof
Environment
Samples, FindsPotential Actions
Acts &ModifiesWorld
Directs whatto look for
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3 Gibson’s Ecological Approach
• Acting and sensing co-evolved as agent survived in a particular environment. The environment affords the agent what it needs to survive.
• The perception needed to release or guide the “right action” is directly in the environment, not inferred or memorized – Ex. Red on Artic Terns== food
– Ex. Sound of filling container==full
• Percepts are called affordances or said to be obtained through direct perception
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3 Gibsonian Affordances• How do you know you’re going fast in a car? Or in a
space movie?
• How do animals know when to mate?
• How do mosquitoes know to bite in the most tender areas?
• What should you do when you think you’re being stalked by a mountain lion?
• What’s your favorite fishing lure?
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3 Sittability
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3 But does this really hold for everything?
• “my car” versus “your car”?– Difference is
• where I parked it (memory)
• Semantic meaning (cars aren’t generic like nuts to a squirrel)
• Neisser’s Two Systems– Direct Perception: older, behavioral
– Recognition: evolved later, deliberative
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3 Review Questions• What are the levels of a computational theory?
• Existence proof, inputs-outputs-transformations, implementation
• What is a behavior?
• A behavior is a mapping of sensory inputs to a pattern of motor actions
• Is sequencing normally implicit or explicit in IRM?
• implicit
• What is an affordance?
• A potentiality in the environment for an action
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3 Schema Theory
schema- is used in cognitive science and ethology to refer to a particular organized way of perceiving cognitively and responding to a complex situation or set of stimuli
• is generic, equivalent to an object in OOP– schema specific knowledge (local data)
– procedural knowledge (methods)
• schema instantation is specific to a situation, equivalent to an instance in OOP
• a behavior is a schema, consists of– perceptual schema
– motor schema
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3 Behavioral Schema
MotorSchema
(MS)
PerceptualSchema
(PS)
percept,gain
action,intensity
alternative PS, MSsequencing logic for reactive skills
(judgment value function)
Reflexive behaviors usually just have “methods”, not data
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3 Ex. Fly Snapping Behavior IRM
snap(blob)track(blob)
x,y,z,100%
snap,100%
Releaser:small moving dark blob
present? N
Y
/dev/null
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3 Schema Instantiation (SI)
snap(blob)track(blob)
x,y,z,100%
snap,100%
Releaser:small moving dark blob
present? N
Y
/dev/null
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3 Schema/Schema Instantiation
behaviorschema
releaser
present?N
1.
snap(blob)track(blob)track(blob) snap(blob)snap(blob)track(blob)
PerceptualSchema Library
MotorSchema Library
2.
snap(blob)track(blob)
x,y,z,100%
3.
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3 Advantages
• modular
• can assemble new behaviors from existing schemas– learning by experimentation
• can substitute alternatives– reroute nerves
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3 Instantiation for each eye
snap,100%
snap(blob)track(blob)
x,y,z,100%
Releaser:small moving dark blob
present?N
Y
/dev/null
snap,100%
snap(blob)track(blob)
x,y,z,100%
Releaser:small moving dark blob
present?N
Y
/dev/null
Left eye
Right eye
Snap atvector sum(middle)
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3 Where’s the MS and PS?
• light goes on, the cockroach turns and runs
• when it gets to a wall, it follows it
• when it finds a hiding place (thigmotrophic), goes in and faces outward
• waits until not scared, then comes out
Flee
Follow-wall
hide
LIGHT
present?N
Y
SCARED &SURROUNDED
present?N
BLOCKED &SCARED
present?N
SCARED
steer 180,drive forward
steer =F(dist to wall)drive forward const.
steer =F(dist to wall)drive forward const.
stop
encoders
IR
IR
IR
IR
IR
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3 General Principles
• All animals possess a set of behaviors
• Releasers for these behaviors rely on both internal state and external stimulus
• Perception is filtered; perceive what is relevant to the task
• Some behaviors and associated perception do not require explicit knowledge representation (e.g., rely on affordances)
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3 Silicon v. Carbon
• Individual robots must survive, not species– detection of non-productive behaviors
– graceful degradation
• Must be able to predict emergent behaviors
• Not clear how to learn quickly
• Robots need more alternative perceptual schemas since poorer understanding of the environment
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3 Unresolved Issues
• How to resolve conflicts?– behavioral arbitration/combination
• When is explicit representations, memory needed?
• How to set up or learn new sequences of behaviors
• What are the affordances for a particular ecology?
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3 Take Home Thoughts…• Ideas bubbling up for robotics
– Maybe programming in terms of behaviors is better than STRIPS or trying to set up a complex hierarchy
– Intelligence has something to do with agent’s ecological niche: its abilities, its tasks (survival), and environment
– Perception is going to be critical because it releases and guides actions
– IRMs, Schemas are nice ways to start thinking about the computational structure of programming a robot
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3 Review Questions• Think about the robots at the WTC. What are affordances of
victims?
• color, motion, sound, heat
• Can schema theory represent behaviors in both biological and computational systems?
• yes
• A behavior schema is composed of at least the following:
• motor schema and a perceptual schema
• What is an example of behavior-specific knowledge?
• sequencing in a skill, alternative PS or MS
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 51
3
BEHAVIOR
SensoryInput
Patternof MotorActions
Releaser
present? N
Y
/dev/null
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Introduction to AI Robotics (MIT Press) Chapter 3: Biological Foundations 52
3 Inhibition
while (TRUE) { predator = sensePredator(); //has a time delay if (predator==PRESENT) //as long as predator persists flee(); else { food = senseFood(); hungry = checkStateHunger(); ... }}
Could also be done as an interrupt