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
Top Related