2014 VL CogSys 2

Fakultät
für Informa0k
der Technischen Universität München
Cogni&ve Systems
A. Knoll, F. Röhrbein, A. Perzylo + his team,

R. Hostettler, D. Clarke
Robotics and Embedded Systems (Informatik VI, TUM)

fortiss GmbH
Cogni0ve Systems
SS 2014 1
Lehrstuhl Informa0k VI – Robo0cs and Embedded Systems

Fakultät für Informa0k
Cognitive Systems 2:
Cognitive Architectures
Cogni0ve Systems
SS 2014 2

Key Publications
Langley, P.: Cogni&ve architectures and general intelligent systems. AI Magazine 27(2), 33–44
(2006).

Sun, R.: Desiderata for cogni&ve architectures. Philosophical Psychology 17(3), 341–373 (2004).

Sun, R.: The importance of cogni&ve architectures: an analysis based on clarion. Journal of
Experimental & Theore0cal Ar0ficial Intelligence 19(2), 159–193 (2007).

Vernon, D., von Hofsten, C., and Fadiga, L. A. Roadmap for Cogni&ve Development in Humanoid
Robots, Cogni0ve Systems Monographs, Springer (2010).

Vernon, D. Cogni&ve System, Encyclopedia of Computer Vision, Springer (2012)
Cogni0ve Systems
SS 2014 3

What is a model?
Models are abstractions of real world systems or implementations
of hypothesis to investigate particular questions about, or to
demonstrate particular features of a system or hypothesis.
•  descriptive models what ?

•  mechanistic models how ?
•  interpretive models why ?
Cogni0ve Systems
SS 2014 4

Models
o  Meaning of models in our context: mathematical representations of system dynamics

§  Models allow the dynamics to be simulated / analyzed without having to build the system
§  Models are never exact, but can be predictive
o  Models can be used in ways the system cannot

§  Certain types of analysis cannot be done in a real system
§  Resource efficiency
o  The model to use depends on the questions asked

§  A system has many models
§  Choice of time and space scale
§  Always formulate questions before building a model
Cognitive architectures as models of cognition
Cogni0ve Systems
SS 2014 5

Motivation
It’s relatively easy to write software for isolated robot components …
vision
module
leg
module
?
arm
module
… but how do we put these together?

Cogni0ve Systems
SS 2014 6

The Early Ages of Robotics
sensors
string everything together in a single program…

if (...)
then ...
û not good, because
û hard to maintain
û no flexibility (hardware, tasks, …)
û not scalable
motion
Cogni0ve Systems 7
SS 2014

A better solution …
environment
signalling
controller
seman0c analysis
motor controller
perceptual system
planning system
model of human
state of mind
aben0on control
decision maker
internal state
goal manager
environment model
… build a system based on a Cogni0ve Architecture!
Cogni0ve Systems 8
SS 2014

Cogni0ve Systems
SS 2014

Cogni0ve Systems
SS 2014

Definitions: a cognitive architecture…
•  „... is a broadly-scoped, domain-generic computational cognitive model,

capturing the essential structure and process of the mind, to be used for a
broad, multiple-level, multiple-domain analysis of behavior.“
[Sun, 2004, Philosophical Psychology]
•  „... is a specification of the structure of the brain at a level of abstraction that

explains how it achieves the function of the mind.“
[Anderson, 2004, Psychological Review]
•  „... specifies the underlying infrastructure for an intelligent system. Briefly, an

architecture includes those aspects of a cognitive agent that are constant over
time and across different application domains.“
[Langley, 2007, Cognitive Systems Research]
Cogni0ve Systems
SS 2014

Types of Cognitive Architectures
“Mind models” “Technical

Architectures”
•  abstrac0on of the •  emula0on of human
human mind cogni0on
•  psychological and AI •  focus on robo0cs
background applica0ons
•  lots of research, esp. •  rela0vely new
in psychology research topic
•  research goal: •  research goal:
Theory of Cogni0on Smarter Robots
Cogni0ve Systems 12
SS 2014

CA Examples: ACT-R [Anderson el al., 2004]

•  cogni0vist mental model
•  successor of ACT (1980s!)
•  integrates several major
branches of current
psychol. AI research.
•  uses “buffers” to store and
retrieve rule-‐based
“produc0ons”
•  no parallel processing
•  percep0on and motor
External control added recently
World
Cogni0ve Systems 13
SS 2014

Cognitive Architecture Paradigms

•  Cogni&vists treat cogni0on as a form of (possibly stochas0c) computa0on, i.e. the
processing of (symbolic) informa0on by means of algorithms and logic.
•  Emergent systems are mostly based on the principle of self-‐organiza0on, do not
rely on many assump0ons about the environment and develop cogni0ve
capabili0es as they evolve.
•  Hybrid systems exploit the speed and robustness of emergent systems, by
complemen0ng them with the clear structure and programmability of cogni0vist
systems.
[a?er Vernon et al. 2007]
Cogni0ve Systems 14
SS 2014

Different Approaches to Cognition
[a?er Vernon
et al. 2007]
Cogni0ve Systems 15
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Paradigm Pros & Cons
Cogni&vist Emergent Hybrid

•  easy to include prior •  closer to biology •  “best of both worlds”
knowledge •  few assump0ons, •  probably most
•  easy analysis of “thought evolve capabili0es on suitable for future
processes” their own robots
•  complex tasks possible •  flexible, robust and fast •  difficult to find
•  tend to be less flexible •  hard to extract learned common ground of
knowledge and rules paradigms
•  manual programming of
facts / behaviours •  prior knowledge hard •  overall behaviour not
to include well understood
•  slowed down a lot by
accumulated symbolic •  complex tasks difficult
knowledge
Cogni0ve Systems 16
SS 2014

Example: Hierarchical Temporal Memory [Hawkins, 2004]
Emergent mental model

•  not really a complete CA (yet), but rather a „cortex algorithm“ forming the
basis of a new theory of cogni0on
•  main idea: cortex is a hierarchical associa0on and predic0on engine all
signals reaching the brain (external senses, internal reflec0on) are just
paberns hence there is no need for „ar0ficial“ func0onal submodules,
everything is treated the same way for a CA, would need to add „old
brain“ func0on, esp. drives
Cogni0ve Systems 17
SS 2014

Cogni0ve Systems
SS 2014

Classical Examples of Cognitive Architectures

Some cogni0ve architectures produced over 30 years include:
§  ACTE through ACT-‐R (Anderson, 1976; Anderson, 1993)

§  Soar (Laird, Rosenbloom, & Newell, 1984; Newell, 1990)
§  PRODIGY (Minton & Carbonell., 1986; Veloso et al., 1995)
§  PRS (Georgeff & Lansky, 1987)
§  3T (Gat, 1991; Bonasso et al., 1997)
§  EPIC (Kieras & Meyer, 1997)
§  APEX (Freed et al., 1998)
However, these systems cover only a small region of the space of possible
architectures.
Cogni0ve Systems
SS 2014
Lehrstuhl Informa0k VI – Robo0cs and Embedded Systems 19

Cognitive Architecture ACT-R
Cogni0ve Systems
SS 2014 20

Goals of this unit
ñ  To get an overview of ACT-‐R

•  Main concepts and background
•  Implementa0on
ñ  To gain basic experience in cogni0ve modeling with ACT-‐R
ñ  To be able to model simple chunks and produc0ons
Cogni0ve Systems
SS 2014 21

CA Examples: ACT-R [Anderson el al., 2004]

•  cogni0vist mental model
•  successor of ACT (1980s!)
•  integrates several major
branches of current
psychol. AI research.
•  uses “buffers” to store and
retrieve rule-‐based
“produc0ons”
•  no parallel processing
•  percep0on and motor
External control added recently
World
Cogni0ve Systems 22
SS 2014

Declarative Memory - chunks
A chunk represents a fact

Example 3+4=7
Addition-fact
isa
Addend1 Addition- Addend2

3 4
fact34
sum
Cogni0ve Systems
SS 2014
23

Modeling of more complex facts
Example fact: The black cat with 5 legs sits on the mat.
cat proposition
isa isa
legs
5 cat007 fact007 mat
agent object
color
action
black sits_on
Cogni0ve Systems
SS 2014
24

Knowledge Representa&on: Ontologies
Image: John Sowa - http://www.jfsowa.com/ontology/index.htm

Cogni0ve Systems
SS 2014 25

Productions
•  Rules for modifying chunks

Buffer tests ==> Buffer modifica0ons

•  Several produc0ons can fullfil the test condi0ons
•  Selec0on of most suitable produc0on needed
•  Use of subsymbolic mechanisms
•  U0lity equa0on es0mates the rela0ve cost and benefit of each produc0on
•  produc0on with the highest u0lity is selected

Cogni0ve Systems
SS 2014
26

Productions
What, if more than one chunk fullfils the buffer test of a produc0on?
Again, subsymbolic decision: Chunk ac0va0on

Past experiences indicates usefulness at the par0cular moment:

•  Base-‐level: general past usefulness
•  Associa0ve Ac0va0on: relevance to the general context

•  Matching Penalty: relevance to the specific match required
•  Noise: stochas0c is useful to avoid gesng stuck in local minima

Cogni0ve Systems
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27

Implementation – practical use of the ACT-R software
Cogni0ve Systems 28
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ACT-R software
•  LISP-‐based
•  Platorm-‐independent (Linux/Unix, Windows, Mac)
•  Stand-‐alone versions for Windows and Mac
hbp://act-‐r.psy.cmu.edu/souware/
•  Java applet
hbp://cog.cs.drexel.edu/act-‐r/applet.html
•  Unit based on ACT-‐R tutorial unit 1:

hbp://act-‐r.psy.cmu.edu/actr6/units.zip

Cogni0ve Systems 29
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ACT-R Java Applet http://cog.cs.drexel.edu/act-r/applet.html
Cogni0ve Systems 30
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Knowledge representation in ACT-R
Types of Knowledge:

•  Declara0ve knowledge – chunks conscious, facts can be described
•  Procedural knowledge – produc0ons unconscious, like use of language

Chunks:
•  Represent facts of different complexity, such as “George Washington was the
first president of the United States” or “1+1=2”
•  Defined by a
•  chunk-‐type (similar to category, such as bird)
•  slots (abributes, such as color or size)
Syntax: (chunk-‐type name slot-‐name-‐1 slot-‐name-‐2 … slot-‐name-‐n)
Cogni0ve Systems 31
SS 2014

Knowledge representation in ACT-R (II)
Chunks (cont’d):
•  Special slot ISA to specify the type of a chunk

Action023 Defines a chunk (fact) named Ac0on 023
isa chase Defines the chunk-‐type
agent dog
Defines the slot values
object cat
Fact3+4
isa addition-fact
addend1 three
addend2 four
sum seven
Cogni0ve Systems 32
SS 2014

Knowledge representation in ACT-R (III)
Creating chunks:
•  First step: definition of chunk-types
(chunk-type bird species color size)
(chunk-type column row1 row2 row3)
(chunk-type count-order first second)
•  Second step: declaration of facts

(add-dm Add to declarative memory
(b ISA count-order first 1 second 2)
(c ISA count-order first 2 second 3)
(d ISA count-order first 3 second 4)
(first-goal ISA count-from start 2 end 4))
Cogni0ve Systems 33
SS 2014

Knowledge representation in ACT-R (IV)
Productions:
•  Statements that control behavior
•  Represented as IF .. THEN … rules
Examples in English:
IF the goal is to classify a person Conjunction of features to be tested
and he is unmarried
THEN classify him as a bachelor Operation to be performed, if selected
IF the goal is to add two digits d1 and d2 in a column

and d1 + d2 = d3
THEN set as a subgoal to write d3 in the column
Cogni0ve Systems 34
SS 2014

Modules and Buffers

http://act-r.psy.cmu.edu/workshops/
workshop-2009/talks/overview-anderson.ppt
Modules:
§  Represent independent units, work asynchronously Goal
§  Responsible for scheduling its own events
§  Main modules are: Imaginal Declara0ve
§  Declara0ve memory
§  Visual module
Procedural
§  Manual module
Visual Aural

Buffers:
•  Can hold one chunk represen0ng a fact
Manual Vocal
•  Interface of the modules
•  Chunk is copied into buffer and modified locally
Cogni0ve Systems
SS 2014
35

Mapping of modules to brain areas
http://act-r.psy.cmu.edu/workshops/workshop-2009/
talks/overview-anderson.ppt
Cogni0ve Systems
SS 2014
36

Motivations for a Cognitive Architecture
o  Philosophy: Provide a unified understanding of the mind

o  Psychology: Account for experimental data
o  Educa&on: Provide cogni0ve models for intelligent tutoring systems and
other learning environments
o  Human Computer Interac&on: Evaluate ar0facts and help in their
design
o  Neuroscience: Provide a framework for interpre0ng data from brain
imaging.
Cogni0ve Systems
SS 2014
37

Cogni0ve Systems
SS 2014

Structure of Bayesian Networks
Likelihood functions à Encoding of sensory information

Priors à Constraints on possible scenes
P(c) P(d)
cupboard dishwasher
conditional
probability c d P(m|c,d)
table (CPT)
mug
m P(h|m) m P(o|m)
handle opening
Inference in Bayesian Networks
Causal reasoning Evidential reasoning à diagnosis: à perception:

(deduction) (abduction)
Cause Hypothesis
TD BU
TD BU
Consequence Observation
Task: compute posterior for a set of query variables given some event
query variables hidden variables

evidence variables
Exact Inference Procedures
Inference in Bayesian Networks is NP-hard

•  Critical: width of largest clique
•  Restrictions à e.g. polytrees
•  Approx. inference (anytime algo’s)
= Belief propagation, Message passing

= Clique-tree propagation
How Inference Works
π (INDOOR) π (OUTDOOR)
Which kind of knowledge enters
the Bayesian network?
•  Static information
- Structural dependencies
€
- Conditional probabilities
•  Dynamic information
- priors for root nodes
- Observation / measurements
What do you get?
•  posterior of all variables of
interest
λ (RED)
λ (SMALL)
Bayesian Belief Propagation
BEL( x) = αλ ( x)π ( x)
λ(x) = ∏ λY j (x) π ( x) = ∑ P( x | u1 , … , u n )∏ π X (ui )

j u1 ,…,un i
€ BU TD
λ
π

π Y j ( x) = BEL( x) / λY j ( x)
λ X (ui ) = β ∑ λ ( x) ∑ P( x | u1 , … , u n )∏ π X (u k )
x uk :k ≠i k ≠i
TD Saliency Modulation
resulting saliency
TD bias
spatial modulation
UPF 2014 Cogni0ve Architectures

Thanks for your attention!

... and send your questions, comments etc. to
florian.roehrbein@in.tum.de
SS 2014 Cogni0ve Architectures 46

2014 VL CogSys 2

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Fakultät

A. Knoll, F. Röhrbein, A. Perzylo + his team,

Robotics and Embedded Systems (Informatik VI, TUM)

• descriptive models what ?

o Meaning of models in our context: mathematical representations of system dynamics

o Models can be used in ways the system cannot

o The model to use depends on the questions asked

Cognitive architectures as models of cognition

It’s relatively easy to write software for isolated robot components …

… but how do we put these together?

The Early Ages of Robotics

string everything together in a single program…

… build a system based on a Cogni0ve Architecture!

Definitions: a cognitive architecture…

• „... is a broadly-scoped, domain-generic computational cognitive model,

• „... is a specification of the structure of the brain at a level of abstraction that

• „... specifies the underlying infrastructure for an intelligent system. Briefly, an

Types of Cognitive Architectures

“Mind models” “Technical

CA Examples: ACT-R [Anderson el al., 2004]

Cognitive Architecture Paradigms

Different Approaches to Cognition

Paradigm Pros & Cons

Cogni&vist Emergent Hybrid

Example: Hierarchical Temporal Memory [Hawkins, 2004]

Emergent mental model

Classical Examples of Cognitive Architectures

§ ACTE through ACT-­‐R (Anderson, 1976; Anderson, 1993)

Cognitive Architecture ACT-R

Goals of this unit

ñ To get an overview of ACT-­‐R

ñ To be able to model simple chunks and produc0ons

CA Examples: ACT-R [Anderson el al., 2004]

Declarative Memory - chunks

A chunk represents a fact

Addend1 Addition- Addend2

Modeling of more complex facts

Knowledge Representa&on: Ontologies

Image: John Sowa - http://www.jfsowa.com/ontology/index.htm

• Rules for modifying chunks

• Use of subsymbolic mechanisms

• produc0on with the highest u0lity is selected

Past experiences indicates usefulness at the par0cular moment:

• Associa0ve Ac0va0on: relevance to the general context

Implementation – practical use of the ACT-R software

• Unit based on ACT-­‐R tutorial unit 1:

ACT-R Java Applet http://cog.cs.drexel.edu/act-r/applet.html

Knowledge representation in ACT-R

Types of Knowledge:

Knowledge representation in ACT-R (II)

Knowledge representation in ACT-R (III)

• Second step: declaration of facts

Knowledge representation in ACT-R (IV)

IF the goal is to add two digits d1 and d2 in a column

Modules and Buﬀers

Mapping of modules to brain areas

Motivations for a Cognitive Architecture

o Philosophy: Provide a uniﬁed understanding of the mind

Likelihood functions à Encoding of sensory information

Causal reasoning Evidential reasoning à diagnosis: à perception:

query variables hidden variables

Inference in Bayesian Networks is NP-hard

•  descriptive models what ?

o  Meaning of models in our context: mathematical representations of system dynamics

o  Models can be used in ways the system cannot

o  The model to use depends on the questions asked

•  „... is a broadly-scoped, domain-generic computational cognitive model,

•  „... is a specification of the structure of the brain at a level of abstraction that

•  „... specifies the underlying infrastructure for an intelligent system. Briefly, an

§  ACTE through ACT-‐R (Anderson, 1976; Anderson, 1993)

ñ  To get an overview of ACT-‐R

ñ  To be able to model simple chunks and produc0ons

•  Rules for modifying chunks

•  Use of subsymbolic mechanisms

•  produc0on with the highest u0lity is selected

•  Associa0ve Ac0va0on: relevance to the general context

•  Unit based on ACT-‐R tutorial unit 1:

•  Second step: declaration of facts

o  Philosophy: Provide a uniﬁed understanding of the mind