Archive for August, 2008

Python Rocks, DEACCON progresses, Study People have slowed down

Sunday, August 31st, 2008

Spent all day sunday looking at python, implementing DEACCON and reading my new python reference guide.  I got some good time in.  I love how easy python makes unit testing of components.  Instead of having to write a complex driver you can just use the command line and create whatever you need.  Pretty much everything I love in object oriented coding is in there including operator overloading and everything being pass by reference.  Only thing I really miss is the lack of multiple argument constructors.   Also this is the first loosely typed language I have ever worked with so not having to type every variable is a touch weird.

I think the study needs some more prompting the people flow has slowed down some.  I will see if I can think up new places to advertise and hit up my family when I see them.

Speaking of family I will be out of the office around lunch tomorrow to  visit some with them.

New Python Toys, Papers Read and Design Discusions

Tuesday, August 26th, 2008

I found a pair of new toys for python that should be very helpful for DEACCON.  The first is a good standalone vector library so I don’t have to us the OpenGL/Drawing ap ones.  Secondly Fritz pointed out a python wrapper for a C++  computational geometry package that will allow me to hand off many of the trickier functions to the CGAL library now I just need to sit down one day and wire everything together.  I cleared off a lot of my reading backlog though there are a few side things that need a further look(spatial calc, and the other AI builders), and my write ups haven’t caught up with my reading.  It looks like the variable subsumption idea has already been implemented.  Quite early in fact Brook’s second paper used a version of it to control a spider robot that could walk around though he didn’t name the tweaks to subsumption as anything special and as usual talked more about the robot than about the programing behind it.  I had a short sit down to discuss possible ways to move data between the agent core and the agent builder but didn’t get much past the preliminary points.

DASSIE Mockups

Monday, August 18th, 2008

DASSIEMain

I was thinking of something like the above as the main page. The big features are an agent selector on the upper left to allow the user to the design multiple agents at once. The top panel will have agent specific information on it, right now I have it displaying which set of subsumption is displayed and allowing the user to switch between them however they should probably include help file access and a button to bring up and alter the agents initial properties. The agent designer buttons are store on the lower left and include save, load, test, execute. The main area of the display will of course be filled with the subsumption arch. I envision this panel as being entirely mouse interactive. An option menu of new items to add to this screen will be displayed via right click. Mousing over present objects will present information about them. For example the diamond triggers will present a detailed description of there triggering conditions. The rectangular central behaviors will give a description of the behavior to execute. Mousing over will provide a more detailed description. Finally mousing over the third square inhibitor will show what effect this layer being active will have on the lower layers via a modified/color coded horizontal bar graph.

Map Interface

I would like to use a common map point interface for all behaviors that require it. This interface would show the map of the area the agents will interact with in the left hand side and then present any controls to the user on the right. This will be useful at least for setting up patrol paths and defining starting points but i expect that more behaviors will be require some form of spatial definitions.

To Be continued.

General call for participants launched. Still reading subsumption

Sunday, August 17th, 2008

Hopefully I should start seeing more study participants coming in I put out a general call to my friends. I need to remember to do a recruitment drive though my family next time I talk to them. Also close up another special char hole in database entry form. Started playing with wxPython to do interfaces its a fun system. Mainly I have been looking through subsumption. There is an amazing quantity of work in this area. 4500 papers cite the original subsumption. Problem is that most of them are just incremental upgrades showing some new application or a robot doing something or other, not new work in the area. Also almost all work done in robots seem to throw in a cite to the subsumption papers. I have pulled all major/interesting papers I have dug up but I still have a lot to go through.

Doing related work is like owning rabits…..

Tuesday, August 12th, 2008

You start out with one or two then before you know it you have 2 dozen.

Things to Look at:

Spatial Calculus
Virtual Human Markup Language
Human Markup Language
Subsumption Arch

Aug. 11th – Dissertation and IUI

Monday, August 11th, 2008

I grabbed the disertation template from Priyesh and have started to convert and fill in everything on it. The related works section is coming along nicely, it is actually going a lot faster than I anticipated since it is generally just taking my paper reviews and adding some flow and additional formating and grammar work.

I have a solid idea of the unique contribution I would like to present and at IUI and look foward to doing the research on it. Primarly it should be a presentation of the agent design tool and a user study to back it up. The study would be the standard use to the tool to make an agent that does this kind of thing. I would like to devise a metric by which we can automatically rate the quality of the agents the users generate and produce a numeric quantitative evaluation. I also think a comparison using such a system against another design methodology would be in order. I would recommend testing against FSM since they are commonly used by most of the other agent design systems. It shouldn’t be that hard to produce a system that can do both subsumption and FSM. I would like to continue some of the work I read last week and evaluate how much the users “trust” the agents they produced and see what there confidence levels looked like. This concept of trust might prove important given that we would like to submit DASSIE as a training tool for potentially life threating situations. I will need to check our IRB paperwork on what questions we can ask. Finally the work presented here regarding providing the users with rich levels of feedback was very interesting and I would also like to integrate some of it. I feel like we could provide a sort of live demo of the agent that would provide a real time marking of which state is active while the agent moves through the world. If possible it would be nice give the participants the results of the quantitative analysis at this point as well. The participants could then use this to edit there agent design. It would I think be interesting to run participants through both with and without this additional feedback.

Also there are demos scheduled for 2:00 tomorrow thursday.

Study for IUI ROUGH possiblities

Thursday, August 7th, 2008

Rough Hypo. Statement: Show that by using an agent designer basied on subsumption arch. it is possible for regular people to design agents that accomplish a pre-defined task.

Implementation: 2D interface using python and the widget library to build the agent.  Agents are simple and the engine behind them isn’t the full DASSIE agent core(target completetion for interface (19th August).  Agents are then ran in a 3D environment(Panda) and objectively evaluated on task completion.  The enviroment should be one easy to construct but similar to our DASSIE study enviroments.  Possibly the COMET enviroment that Shawn has been working on would work.  The pre defined task would be related to or one of the desired DASSIE tasks.

Also possible other things to look at.  Trust or confidence in the agent – User rate themselves based on how well they think they did.

Similarity between generated agents.

User metrics, time spent on instruction screens, time spent building agent, ect.

AI designer will incorperate the first round of results from the ontology study.

Study must start no later than first week of  November.

Finished reading the backlog of IUI papers

Sunday, August 3rd, 2008

I finished clearing the IUI conference for interesting papers. I found a couple interesting things. It looks like there is was/is a using some kind of simplified/AI assisted interface to allow common/broader audience to gain access to things that were previously the domain of specialists which makes it sound like we will be a great fit there. Now that I have cleared IUI I am going to start digging into the leads and related research I found there and run down the other research suggestions I have. That means I will probably be looking over AAAI and more subsumption arch stuff tomorrow.

August 1st

Friday, August 1st, 2008

The lab has been kinda crazy this week between the REU wrapup, presentations, and of course the random gas leak.  Also of course working on DEACCON, attempting to recruit for DASSIE (which is suffering low turnouts), and doing a ton of paper readings. Also I have an isolate report of an error in the dassie study which I have been trying to run down which is proving to be elusive and I haven’t been able to replicate.

It is basically 2 months before the IUI deadline and I have went through most of the papers they published that are at all relevant to what we are doing.  I noticed a couple of common themes running through the accepted papers.  Pretty much all papers have a human study attached to them to showing that that whatever the paper is about is a good thing.  One of the major differences between the 4 page papers and the 10 page ones seems to be the quality of the study that is attached to them.  Papers generally fall into one of three groupings:  Self adapting interfaces, Machine learning algorithms that improve interfaces, or interfaces that provide revolutionary ways to assist, or generalize a task to broader groups then normal.  The last category seems to be a near perfect fit for the DASSIE stuff which is fortunate.  I am starting to get a good feel for what the current state of the art in intelligent interfaces and plan to move my reading back into the AI areas next.