J Storrs Hall

President

The Foresight Institute

The Robotics Path to AGI using

Servo Stacks

A sensory-motor abstraction stack

Serve Coffee

walk to dining room

three steps, turn right

lift right foot, extend left

contract particular muscles

footsole pressure pattern

choose foot placementdoorjamb location

proprioception

kinaesthesia

entering dining room

locate coffee table

Crosstalk at all levels

reflex

reflex

reflex

reflex

sensory motorefference copy

efference copy

efference copy

efference copy

reinterpret as a stack of feedback

controllers (servos)

serving coffee

navigating rooms

walking

(A working brain is a

complex network, not

a linear chain!)

Each servo is an interpolating

associative memory

It stores trajectories of the signals on its

connections Generalizes them to directed surfaces in the vector

space CBR-like learning Can perform or recognize trajectories

each trajectory associated with a condensed-signature

“name” in signals to/from higher level servos

Memory = {(S, P, D, F), ...}

S P D FInputs and outputs

have dynamically-

settable strengths

to determine

which fields are

“address” and

which are “data”

Setpoint

Plant

Differential

Feedback

Interpolation and extrapolation:

Analogical Quadrature

Recognized

current

situation

Best match

in memory

action takenresult in memory

action to take

Desired/predicted

result

EVERYTHING in the system is represented as simple numeric vectors

F

P S

D used for chaining

Connectivity determines function

S P D F

S P D F

S P D F

sequencer

Homeostat

simulator

Minsky 1954

There is alsoRecognizemode

“Please pick up the green sphere”

Parallel similarity match

Fleaspeckpleas

pleasepolice

freeze

fleece

beliefs

believes

spreading

activation

model

Holonic feedback from context

pleas

please

policefreeze

fleece

beliefs

believes

sentence

blocks world

command

Active Production Networks

sentence

command

Please pick up the green sphere

[please] VP NP

question

W-word VP NP

statement

NP VP

(Mark Jones, Bell Labs, 80's)

Holonic feedback causes priming

sentence

command

Please pick up the green sphere

[please] VP NP

det adj N

“Please pick up the green sphere”

red (round thing)

green (round thing)

blue block

brown conered cylinder

orange block

(grayish color) rod

red block

blue cylinder

brown boxS

CMD

VP NP

det adj N

?green

The meaning of a phrase is

The configuration of servos that can recognize a thing, situation, or action

simulate a process (including actions)

plan an action leading to a given situation

perform an action Understanding the phrase consists of building that

working machine Active Subnet Configuration -- ASC

ASCs look like k-lines in Minsky's

Society of Mind model

green sphere

Finder Reacher Grasper Lifter

Picker-upper

eyes touch proprioception

This is the same structure as

the APN, run in reverse. It can

recognize actions; the APN can

generate sentences.

Learning on three levels

Lower-level adaptive learning as the associative

memories fill with better pictures of the space this happens automatically and continually

Medium-level conceptual learning as new servos

and connection geometries are created automatic mining of all signals for correlations and

clustering, pruned by predictive skill High-level learning as learned, conscious action

existing servos can create new ones and manipulate

ASCs with explicit actions

Egon