Chapter 10. The Explorer Systemin Cognitive Systems, Christensen et al.

2nd PartCourse: Robots Learning from Humans

Park, Seong-Beom

Behavioral neurophysiology lab

Brain and Cognitive Science department,

Seoul National University

http://inahlee.org

Table of contents

• Planning

• Scenario: Find Object

• Real navigation of rats

Planning: explorer scenario should include

Goals

• Motivation of action

beliefs

• prior knowl-edge about object posi-tion and spa-tial relations

actions

• Perceive and manipulation of environ-ment

Planning: External actions and internal ac-tionsExternal(physical) actions

Follow person

Approach person

Gain attention

Move

Object search

Inform

Internal action

(e.g. processing)

Conceptual Mapping subarchitecture

e.g. query difault information, e.g. about where books are usually found.

Scenario: find object

Initial Binding state

• Initialize current state, subjects and space

• robot, current area, person and so on

Processing Utter-ance

• interpret the meaning of words

• “Me”, “Boland book”

Motive Generation

• set the goal of action

• “(:goal (K mot-mon4 (per-ceived-position motmon6)))” in MAPL, where motmon4 is owner and mot-mon6 is the book

Continual Plan Creation

• Determine se-quence of action• 1. Acknowl-

edge command acceptance

• 2. Think where the book is.

• Search the po-sition

• Tell the user the position of book.

Plan execution and revision

• Do find the book

When the robot is ordered by a user to “Find me the Boland book”, What should it do?

Real navigation system

• Hippocampus cells KNOW where I am.• HOW?• Two strategy : Cognitive map and path integration John O’keefe

(Nobel prize winner)

Real Navigation system

Path integration

• Calculate vector from it’s path way• Direction, distance, speed

information was need

Cognitive map

• Calculate distance from anchor point (wall)