Creating Instructable Cognitive Agents

283 views

Published on

Shiwali Mohan's presentation at the Cognitive Systems Institute Group Speaker Series call on September 3, 2015

Published in: Technology
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total views
283
On SlideShare
0
From Embeds
0
Number of Embeds
3
Actions
Shares
0
Downloads
6
Comments
0
Likes
0
Embeds 0
No embeds

No notes for slide

Creating Instructable Cognitive Agents

  1. 1. direct indirect
  2. 2. 0 2 4 6 8 10 12 14 16 time 0 2 4 6 8 10 12 14 y
  3. 3. 0 2 4 6 8 10 12 14 16 time 0 2 4 6 8 10 12 14 y +10 -10
  4. 4. 0 2 4 6 8 10 12 14 16 time 0 2 4 6 8 10 12 14 y +10 -10
  5. 5. Pantry Table Stove Garbage "Store the green rectangle" percieve act
  6. 6. Pantry Table Stove Garbage "Store the green rectangle" percieve act Pantry Table Stove Garbage "Store the green rectangle" knowledge store-task move-task cook-task
  7. 7. Pantry Table Stove Garbage "Store the green rectangle" percieve act Pantry Table Stove Garbage "Store the green rectangle" knowledge store-task move-task cook-task Pantry Table Stove Garbage knowledge store-task
  8. 8.
  9. 9. place ACN open ACN close ACN in pantry Pantry Table Stove Garbage Episodic Memory
  10. 10. _direct- objectstore _verb L2 A21 place ACN open ACN close ACN in pantry Pantry Table Stove Garbage Episodic Memory
  11. 11. M2 _direct- objectstore _verb L2 A21 place ACN open ACN close ACN in pantry Pantry Table Stove Garbage Episodic Memory
  12. 12. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 place ACN open ACN close ACN in pantry Pantry Table Stove Garbage Episodic Memory
  13. 13. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 place ACN open ACN close ACN in pantry Pantry Table Stove Garbage Episodic Memory
  14. 14. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 place ACN open ACN close ACN in pantry Pantry Table Stove Garbage Episodic Memory
  15. 15. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  16. 16. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  17. 17. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  18. 18. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  19. 19. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  20. 20. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  21. 21. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  22. 22. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  23. 23. M2 _direct- objectstore _verb L2 A21 OPstore P2 _arg1 _action-space P24 place ACN open ACN close ACN in pantry P22 _goal G21 P21 _pred _arg2 _argument1 _pred _arg1 closed Pantry Table Stove Garbage Episodic Memory
  24. 24. Episodic Memory Concept Network
  25. 25. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage
  26. 26. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state.
  27. 27. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage 3. Project [open] model [open]
  28. 28. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage Pantry Table Stove Garbage 3. Project [open] model [open] model [place] 4. Project [place]
  29. 29. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage Pantry Table Stove Garbage Pantry Table Stove Garbage 3. Project [open] model [open] 5. Project [close] model [close] model [place] 4. Project [place]
  30. 30. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage Pantry Table Stove Garbage Pantry Table Stove Garbage 3. Project [open] model [open] 5. Project [close] model [close] model [place] 4. Project [place]
  31. 31. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage Pantry Table Stove Garbage Pantry Table Stove Garbage 3. Project [open] model [open] model [place] 4. Project [place]
  32. 32. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage Pantry Table Stove Garbage Pantry Table Stove Garbage 3. Project [open] model [open]
  33. 33. Episodic Memory Concept Network 1. Recreate original state. Pantry Table Stove Garbage Pantry 2. Generate desired state. Pantry Table Stove Garbage Pantry Table Stove Garbage Pantry Table Stove Garbage
  34. 34. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 episodes 0 2 4 6 8 10 12 14 16 #interactions predicate selection + variablization No generalizationTask: cook
  35. 35. serve (obj1) cook (obj1) place(obj1, ON, TABLE) place(obj1, ON, STOVE) activate (STOVE) wait-until (obj1, COOKED) stop (STOVE) pick-up (obj1) put-down(obj1, ON, STOVE) pick-up (obj1) put-down(obj1, ON, TABLE)
  36. 36. serve (obj1) cook (obj1) place(obj1, ON, TABLE) place(obj1, ON, STOVE) activate (STOVE) wait-until (obj1, COOKED) stop (STOVE) pick-up (obj1) put-down(obj1, ON, STOVE) pick-up (obj1) put-down(obj1, ON, TABLE)
  37. 37. serve (obj1) cook (obj1) place(obj1, ON, TABLE) place(obj1, ON, STOVE) activate (STOVE) wait-until (obj1, COOKED) stop (STOVE) pick-up (obj1) put-down(obj1, ON, STOVE) pick-up (obj1) put-down(obj1, ON, TABLE)
  38. 38. serve (obj1) cook (obj1) place(obj1, ON, TABLE) place(obj1, ON, STOVE) activate (STOVE) wait-until (obj1, COOKED) stop (STOVE) pick-up (obj1) put-down(obj1, ON, STOVE) pick-up (obj1) put-down(obj1, ON, TABLE) stack (obj2, obj3, obj4) place(obj3, ON, obj4) place(obj2, ON, obj3) pick-up (obj3) put-down(obj3, ON, obj4) pick-up (obj2) put-down(obj2, ON, obj3)
  39. 39. place move discard store stack cook serve 0 10 20 30 40 #interactions 1. no transfer 2. intra task transfer 3. inter+intra task transfer
  40. 40. 0 1 2 3 4 Exploration depth 1 10 100 1000 10000 Decisioncycles decision cycles to exlpore the action space
  41. 41. 0 1 2 3 4 Exploration depth 1 10 100 1000 10000 Decisioncycles 0 4 8 12 16 #interactions decision cycles to exlpore the action space number of interactions with the instructor

×