Raúl Arrabales, Agapito Ledezma and Araceli Sanchis
Computer Science DepartmentCarlos III University of Madrid
http://Conscious-Robots.com/Raul
International Workshop on Machine Consciousness 2009PolyU, Hong Kong, 14th June 2009
CERA-CRANIUM: A Test Bed for Machine Consciousness
Research
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Contents
Introduction and objectives. Related work. Objectives. CERA-CRANIUM. Experimentation settings. Example of application. Conclusions.
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Introduction (I) Theories of consciousness
Philosophical or psychological background.
Metaphorical descriptions.
Need to bridge the gap between theories and implementation.
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Introduction (II) Cognitive theories of consciousness
Global Workspace Theory (Baars, 1997).
Multiple Draft Model (Dennett, 1991).
Inspiration for the design of a partial computational model of consciousness.
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Introduction (III) Common ground
Non-unitary mechanisms producing the unity of self.
In other words, conscious contents emerge as a result of competition/collaboration (Minsky, Dennett, Hofstadter, Baars, Shanon).
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Introduction (IV) Objectives
To understand how cognitive skills associated with consciousness can be integrated effectively.
To test different machine consciousness models.
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Introduction (V) Functionalism:
Is this a reductionist approach? Does this mean that phenomenal
aspects are ignored?
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Related work (I) Shanahan’s (2005, 2006) cognitive
architecture.
IDA and LIDA (Ramamurthy et al., 2006).
Computational Agent Framework for Consciousness (Moura & Bonzon, 2004).
CERA-CRANIUM (Arrabales et al., 2007, 2008).
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Related work (II) Common denominator:
Shared workspace and specialized processors.
Different approaches in terms of: Architecture. Problem domain. Perceptual flow. Decision taking. Modulation.
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Objectives Experimentation platform.
Test bed for high level cognitive approaches.
Generic but configurable cognitive architecture.
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CERA-CRANIUM (I) CERA-CRANIUM Provides:
Mechanisms for specialized processors
Creation, Association, Combination, Competition.
Mechanisms to regulate the former processes.
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CERA-CRANIUM (II) CERA: layered control architecture.
CRANIUM: runtime tool for the creation and management of high amounts of parallel processes in shared workspaces.
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CERA-CRANIUM (III) CERA: layered design
Sensorimotor services layer. Physical layer. Mission-specific layer. Core layer.
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CERA-CRANIUM (IV)
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Agent
Sensors
Actuators
CERA World
Accessible environment
Reachable environment
Sensor Services
Motor Services
Physical Layer
Mission-specific Layer
Core Layer
Different levels of description
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CERA-CRANIUM (V) CRANIUM
Blackboard Pandemoniu
m
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SpecializedProcessors
Working Memory
Focus of Attention
Contexts
Interim Coalition
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CERA-CRANIUM (VI) Perceptual flow:
Sensory data. Single percepts. Complex percepts. Mission percepts.
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CERA-CRANIUM (VIbis)
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Sensor
Single Percepts
Sensor Preprocessors
Sensor Readings
Timer
Proprioception
Sensor Service
Agent
CERA sensory-motor services
CERA physical layer
Percept Aggregators
S (World)
eventsδSj N(δSj)N(δSJ)
j t
Complex Percept
M(SCJ)
Knowledge representation
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CERA-CRANIUM (VII) Behavior generation:
Mission behaviors. Simple behaviors. Single actions. Motor controller commands.
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CERA-CRANIUM (VIIbis)
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Actuator
Atomic Actions
Action Preprocessors
Single Actions
Timer
Proprioception
Motor Service
Agent
CERA sensory-motor services
CERA physical layer
Action Planners
S (World)
ActionδBi
N(δBi) N(δBI)j t
Simple Behaviors
Action Dispatcher M(BCI)
Action generation
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CERA-CRANIUM (VIII) Bottom-up flow
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CERA Core Layer
CERA M-S LayerCERA Physical LayerSensor Service
Sensor Service
Single Percepts
…
CRANIUM Workspace
Complex Percepts
…
CRANIUM Workspace
Mission Percepts
Sensor Preprocessors
…Specialized Processors
Sensor Service
CERA S-MSensors
…Percept
Aggregators
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CERA-CRANIUM (IX) Top-down flow
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CERA Core Layer
CERA M-S LayerCERA Physical LayerMotor Service
Motor Service
Single Actions
…
CRANIUM Workspace
Simple Behaviors
…
CRANIUM Workspace
Mission Behaviors
Action Preprocessors
…Specialized Processors
Motor Service
CERA S-MActuators
…Action
Planners
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CERA-CRANIUM (X) CRANIUM processor types
Sensor preprocessors Raw sensory data single
percepts
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CERA-CRANIUM (XI) CRANIUM processor types
Action preprocessors Atomic actions Single actions.
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CERA-CRANIUM (XII) CRANIUM processor types
Percept aggregators Single percepts complex
percepts. Complex percepts complex
percepts.
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CERA-CRANIUM (XIII) CRANIUM processor types
Reactive processors Single percept simple
behavior. Complex percept simple
behavior.
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CERA-CRANIUM (XIV) CRANIUM processor types
Action planners Simple behavior atomic
actions.
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CERA-CRANIUM (XV) CRANIUM processor types
Sensory predictors Single percepts mismatch
complex percept. Complex percepts mismatch
complex percept.
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CERA-CRANIUM (XVI) Multi-level concurrent feedback loops
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CERA M-S Layer CERA Core LayerCERA Physical LayerCERA S-MWORLD
(a)
(b)
(c)
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CERA-CRANIUM (XVII) Physical level feedback loops
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Contact Sensor Service
Drive Service
Single Percepts
Simple Behavior
MotorControllers
Crash!
Contact Sensors
WORLD AGENT CERA S-M
CERA Physical Layer
Actions
Complex Percept Reactive
Processor
Workspace
Action Planner
Percept Aggregator
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CERA-CRANIUM (XVIII) Software architecture
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Agent sensory-motor machinery
.Net FrameworkCCR
CRANIUM
DSS
CERA Physical
CERA Sensory- Motor Services
.Net FrameworkCCR
CRANIUMDSS
CERA Mission-specific
.Net FrameworkCCR
DSS
CERA Core
MCCM Configuration
DSSP DSSP
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CERA-CRANIUM (XVIIIbis) Software architecture
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Single Percepts
Complex Percepts
…
Workspace
…
Workspace
Mission Percepts
Core Layer
Physical Layer Mission-Specific Layer
Modulation Commands
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CERA-CRANIUM (XIX) The proposed cognitive
architecture is focused on: Selecting next content of conscious
perception. Selecting next action to be
executed.
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Experimentation settings Variables:
Cognitive model of consciousness. Agent (physical or simulated). Problem domain and mission. Environment (physical or
simulated).
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Applications
Current applications:
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Application example (I)
Autonomous exploration and mapping
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Application example (II)
Autonomous exploration and mapping.
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Application example (III)
Percepts (bumpers).
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(0,0)
-52º
-19º0º
19º
52º
BAb5
BR
b1
b2
b3 b4
b5
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Application example (IV)
Single percept (bumper).
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Impact
j referentLeft-j referent
Right-j referent
N(δSJ)
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Application example (V)
Complex percept (bumper).
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Impact
Left-j referent
Right-j referent
j referent
M(SCJ)
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Application example (VI)
CERA Core Layer Design.
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Physical Layer
Mission Percepts,Complex percepts,Mismatch Percepts,Novelty Percepts,
…
M(SCJ)
…
CRANIUM Workspace
…
CRANIUM Workspace
M-S Layer Core Layer
Workspace Commands
Current Model State
Contextual J-Index
Calculation
Cognitive Model
Meta-goalsRule-based
system
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Conclusions (I)
From sensory to qualia?
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Sonar transducer
Ultrasonic beam (three-dimensional cone)
Left-j referent
Right-j referent
j referent vector(| j | = range measurement)
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Conclusions (II)
Different implementations of CERA layers.
Explore workspace modulation techniques.
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Thank you
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