Grounding Mundane Inference in Perception

We describe a uniform technique for representing both sensory data and the attentional state of an agent using a subset of modal logic with indexicals. The resulting representation maps naturally into feed-forward parallel networks or can be implemented on stock hardware using bit-mask instructions. The representation has “circuit-semantics” (Nilsson, 1994, Rosenschein and Kaelbling, 1986), but can efficiently represent propositions containing modals, unary predicates, and functions. We describe an example using Kludge, a vision-based mobile robot programmed to perform simple natural language instructions involving fetching and following tasks.

[1]  David Chapman,et al.  Pengi: An Implementation of a Theory of Activity , 1987, AAAI.

[2]  John C. Mitchell,et al.  On the Sequential Nature of Unification , 1984, J. Log. Program..

[3]  G. Reeke.  Marvin Minsky, The Society of Mind , 1991, Artif. Intell..

[4]  Ian D. Reid,et al.  Transfer of fixation for an active stereo platform via affine structure recovery , 1995, Proceedings of IEEE International Conference on Computer Vision.

[5]  Gregory D. Hager,et al.  Calibration-free visual control using projective invariance , 1995, Proceedings of IEEE International Conference on Computer Vision.

[6]  Scott E. Fahlman,et al.  NETL: A System for Representing and Using Real-World Knowledge , 1979, CL.

[7]  Daniel P. Huttenlocher,et al.  Tracking non-rigid objects in complex scenes , 1993, 1993 (4th) International Conference on Computer Vision.

[8]  Paul Smolensky,et al.  Tensor Product Variable Binding and the Representation of Symbolic Structures in Connectionist Systems , 1990, Artif. Intell..

[9]  Nils J. Nilsson,et al.  Teleo-Reactive Programs for Agent Control , 1993, J. Artif. Intell. Res..

[10]  Hirochika Inoue,et al.  Vision Based Robot Behavior: Tools and Testbeds for Real-World AI Research , 1993, IJCAI.

[11]  Hector J. Levesque,et al.  GOLOG: A Logic Programming Language for Dynamic Domains , 1997, J. Log. Program..

[12]  Leslie Pack Kaelbling,et al.  The Synthesis of Digital Machines With Provable Epistemic Properties , 1986, TARK.

[13]  Jill D. Crisman.  Color region tracking for vehicle guidance , 1993 .

[14]  Christopher M. Brown,et al.  Real-time smooth pursuit tracking , 1993 .

[15]  Michael J. Swain,et al.  Task and Environment-Sensitive Tracking, , 1994 .

[16]  Philip E. Agre,et al.  The dynamic structure of everyday life , 1988 .

[17]  Ian Horswill.  Collision Avoidance by Segmentation , 1995 .

[18]  Rodney A. Brooks,et al.  Asynchronous Distributed Control System For A Mobile Robot , 1987, Other Conferences.

[19]  Yiannis Aloimonos,et al.  Active vision , 2004, International Journal of Computer Vision.

[20]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[21]  Erann Gat,et al.  Experiences with an architecture for intelligent, reactive agents , 1997, J. Exp. Theor. Artif. Intell..

[22]  David Kortenkamp,et al.  Special issue: Software ar-chitectures for hardware agents , 1997 .

[23]  L. Shastri,et al.  From simple associations to systematic reasoning: A connectionist representation of rules, variables and dynamic bindings using temporal synchrony , 1993, Behavioral and Brain Sciences.

[24]  Leslie Pack Kaelbling,et al.  Goals as Parallel Program Specifications , 1988, AAAI.

[25]  Ronald C. Arkin,et al.  An Behavior-based Robotics , 1998 .

[26]  Robert James Firby,et al.  Adaptive execution in complex dynamic worlds , 1989 .

[27]  David P. Miller,et al.  Experiences with an architecture for intelligent, reactive agents , 1995, J. Exp. Theor. Artif. Intell..

[28]  B. Habibi,et al.  Pengi : An Implementation of A Theory of Activity , 1998 .

[29]  Maja J. Mataric,et al.  Behaviour-based control: examples from navigation, learning, and group behaviour , 1997, J. Exp. Theor. Artif. Intell..

[30]  Jennifer Widom,et al.  A First Course in Database Systems , 1997 .

[31]  V. S. Subrahmanian,et al.  Complexity, Decidability and Undecidability Results for Domain-Independent Planning , 1995, Artif. Intell..

[32]  Maja J. Matari,et al.  Behavior-based Control: Examples from Navigation, Learning, and Group Behavior , 1997 .

[33]  Tsuneaki Kato,et al.  A collaborative dialogue model based on interaction between reactivity and deliberation , 1997, AGENTS '97.

[34]  Marvin Minsky,et al.  Plain Talk about Neurodevelopmental Epistemology , 1977, IJCAI.

[35]  Maja J. Mataric,et al.  Minimizing complexity in controlling a mobile robot population , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.