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Massively Multi-Author Hybrid Arti cial Intelligence PDF

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Massively Multi-Author Hybrid Arti(cid:28)cial Intelligence Ois(cid:237)n Mac Fheara(cid:237), B.Sc. (Hons) A Dissertation submitted in ful(cid:28)lment of the requirements for the award of Doctor of Philosophy (Ph.D.) to the Dublin City University School of Computing Supervisors: Mark Humphrys Ray Walshe September 2014 Declaration I hereby certify that this material, which I now submit for assessment on the pro- gramme of study leading to the award of Doctor of Philosophy is entirely my own work, that I have exercised reasonable care to ensure that the work is original, and does not to the best of my knowledge breach any law of copyright, and has not been taken from the work of others save and to the extent that such work has been cited and acknowledged within the text of my work. Signed: ID No.: Ois(cid:237)n Mac Fheara(cid:237) Date: Thesis title: Massively Multi-Author Hybrid Arti(cid:28)cial In- telligence Author: Ois(cid:237)n Mac Fheara(cid:237) Abstract: Biological intelligences often consist of many di(cid:27)erent, complex systems working together, rather than a single mechanism capable of solving every problem. It may be that arti(cid:28)cial intelligence requires a composition of multiple, diverse systems; perhaps more than any one individual or one research group can create or even understand. Thisdissertationpresentsanarchitectureforhostingande(cid:30)cientlyrunninguser- submitted programs ((cid:16)minds(cid:17)) intended to solve particular problems ((cid:16)worlds(cid:17)), and to facilitate the assembly of these problem-solving minds into larger scale systems of (cid:16)hybrid(cid:17) minds which query an existing set of minds (which we call (cid:16)subminds(cid:17)) for their suggested actions. These subminds may be hosted on the same machine or remotely,acrosstheInternet. Theymayhavebeenwrittenbymanydi(cid:27)erentauthors, with each program intended either as a complete solution to the problem, or with an eye toward its re-use in a modular fashion. Even if a program is written and intended as a complete, independent solution to the problem, that need not preclude itsinclusioninalarger,hierarchicalhybridprogram. Inotherwords,thearchitecture presented forms a platform for building hybrid arti(cid:28)cial intelligence systems using other people’s code. The dissertation also presents and evaluates a method for automatically combin- ing minds (which may have been written by di(cid:27)erent authors) for use in a hybrid mind, by performing a statistical analysis of the observed performance of each mind program in a collection of minds submitted by third parties competing to solve two di(cid:27)erent types of problem. 2 Acknowledgements When embarking upon the journey of a doctoral research plan, there are several ways to go about it. One approach is to run headlong into the task and to identify and attack the research questions with singular focus and steely determination. An alternative option is to take the scenic route, meandering about and engaging in many sidequests along the way. Having decidedly followed the latter path, I have manypeopleofwhomtobethankful,andaccordinglymorenamestobothremember and forget. A great number of colleagues and friends provided invaluable help by review- ing drafts and by o(cid:27)ering advice in many, many areas where my knowledge was lacking. Among them are Karthika Raghavan, Cr(cid:237)ost(cid:243)ir Mac CÆrthaigh, SeÆn Mac an Bhaird, Graham Healy, Mark Hughes, Lijuan Zhou, Marija Bezbradica, Irina Roznovat,DeclanMcMullen,CathalGurrin,AakashAhmad,PooyanJamshidi,Kos- ala Yapa Bandara, Paul Clarke, Michael Dever, Jie Shi and Alan Smeaton. I am especially indebted to Martin Crane, Na Li and Yun Jin for guidance pertaining to statistics, andtoCiarÆnO’Leary, BrianMonksandJohnPendleburyforbrainstorm- ing with me at various stages of the project. The faculty and sta(cid:27) at DCU provided support in so many forms (cid:21) Anne-Marie Caherty and Jonny Hobson in particular went out of their way to advise and assist regarding administrative and (cid:28)nancial issues, such as forgetting to (cid:28)ll out forms or running out of money. SØamus Keating helped (cid:28)x my bicycle after (cid:28)nishing his security shift on at least three occasions (cid:21) thank you! Time and again, Gary Conway helped set up and administer servers that were critical to achieving what I set out to do. Jim Doyle and Sean Haran also went above and beyond the call of duty, even at the eleventh hour when my hard drive (predictably) failed. 4 Emer N(cid:237) BhrÆdaigh and MairØad Nic Giolla Mhich(cid:237)l gave excellent advice on practical matters towards the end of the writing process. I am grateful to IRCSET for investing quite a lot of money to fund me for much of the way. A large portion of thanks is also due to my supervisors Mark Humphrys and Ray Walshe for their advice and support, helpfully o(cid:27)ered at di(cid:27)erent times so as to be evenly covered. To my mother, Br(cid:237)d, for several decades (and counting) of guidance, lifts and minding the kids when we were stuck. And(cid:28)nally, myundyinggratitudetoYunqingZhengforbeingherwonderfulself, and to Aela and Turloch for being a grand pair of kids whom I love very dearly. 5 Contents 1 Introduction 15 1.1 Motivation (cid:21) Decentralising A.I. . . . . . . . . . . . . . . . . . . . . . 15 1.2 Hybrid arti(cid:28)cial intelligence . . . . . . . . . . . . . . . . . . . . . . . 16 1.3 The World-Wide Mind . . . . . . . . . . . . . . . . . . . . . . . . . . 16 1.4 Research questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.5 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.6 Dissertation structure . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.6.1 List of chapters . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.6.2 Roadmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2 Terminology 20 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.2 Worlds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.3 States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.4 Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.5 Scores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.6 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.7 Minds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2.8 The action-selection loop . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.9 Hybrid minds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.10 Massively multi-author hybrid arti(cid:28)cial intelligence . . . . . . . . . . 27 2.11 Limitations of this framework . . . . . . . . . . . . . . . . . . . . . . 28 2.12 Research gap: Automated hybrid building . . . . . . . . . . . . . . . 29 2.13 Research aims . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 7 3 Related Work 31 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.2 Modular intelligence . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.3 Cognitive architectures and distributed minds . . . . . . . . . . . . . 32 3.3.1 The Society of Mind . . . . . . . . . . . . . . . . . . . . . . . 32 3.3.2 CogA(cid:27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.3.3 Uni(cid:28)ed Theories of Cognition . . . . . . . . . . . . . . . . . . 35 3.3.4 The Soar architecture . . . . . . . . . . . . . . . . . . . . . . 35 3.3.5 CLARION . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.3.6 Global workspace theory . . . . . . . . . . . . . . . . . . . . . 37 3.3.7 On knowledge representation and building interfaces . . . . . 37 3.4 Other work on building modular intelligent systems . . . . . . . . . . 38 3.4.1 Hybrid minds created by O’Leary et al . . . . . . . . . . . . . 38 3.4.2 Behaviour-based A.I. and the subsumption architecture . . . 40 3.4.3 Behavior-oriented design . . . . . . . . . . . . . . . . . . . . . 41 3.4.4 Hierarchical Q-learning. . . . . . . . . . . . . . . . . . . . . . 41 3.4.5 W-learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 3.4.6 Constructionist Design Methodology . . . . . . . . . . . . . . 42 3.4.7 Blackboard systems . . . . . . . . . . . . . . . . . . . . . . . 42 3.5 Competition and collaboration in mind-building . . . . . . . . . . . 43 3.5.1 Yet Another Robot Platform (YARP) . . . . . . . . . . . . . 44 3.5.2 Robot Operating System (ROS) . . . . . . . . . . . . . . . . 45 3.6 Cloud computing and the semantic web . . . . . . . . . . . . . . . . 45 3.7 Fast communication in networked computer games . . . . . . . . . . 46 3.7.1 Packet transmission protocols . . . . . . . . . . . . . . . . . . 46 3.8 Techniques for synchronising state over unreliable channels . . . . . . 47 3.8.1 Latency and responsiveness . . . . . . . . . . . . . . . . . . . 47 3.8.2 Hiding the e(cid:27)ects of latency . . . . . . . . . . . . . . . . . . . 48 3.8.3 Limitations of latency-hiding techniques . . . . . . . . . . . . 50 3.9 Statistical methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 3.10 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 8 4 Previous Work: the World-Wide Mind, version 1.0 52 4.1 The World-Wide Mind . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.2 Communication model . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.3 Architecture of the World-Wide Mind v1.0 . . . . . . . . . . . . . . . 54 4.3.1 Software architecture . . . . . . . . . . . . . . . . . . . . . . . 54 4.4 Interaction of mind and world . . . . . . . . . . . . . . . . . . . . . . 55 4.5 Society of Mind Markup Language (SOML) . . . . . . . . . . . . . . 56 4.6 Client interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.7 Software API for writing minds and worlds . . . . . . . . . . . . . . 57 4.8 The W2M 1.0 service platform . . . . . . . . . . . . . . . . . . . . . 58 4.8.1 Message encoding, transmission and decoding . . . . . . . . . 59 4.9 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 4.9.1 Minds and worlds as web services . . . . . . . . . . . . . . . . 62 4.10 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5 W2M 2.0: An architecture to enable massively multi-author hybrid intelligence 64 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.2 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.4 Architecture of the World-Wide Mind 2.0 . . . . . . . . . . . . . . . 67 5.4.1 The run logger . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.4.1.1 The run logger XML log . . . . . . . . . . . . . . . . 68 5.4.2 The user interface . . . . . . . . . . . . . . . . . . . . . . . . 70 5.4.3 The W2MServer daemon. . . . . . . . . . . . . . . . . . . . . 70 5.5 Uploading and testing worlds and minds . . . . . . . . . . . . . . . . 72 5.5.1 Uploading worlds . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.5.2 Uploading minds . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.5.3 Running and testing minds . . . . . . . . . . . . . . . . . . . 74 5.6 Improvements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 5.6.1 Moving from a peer-to-peer to a more centralised (cid:16)islands(cid:17) ar- chitecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 9

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Massively Multi-Author Hybrid Arti cial. Intelligence. Oisín Mac Fhearaí, B.Sc. (Hons). A Dissertation submitted in fulfilment of the requirements for the award of. Doctor of Philosophy (Ph.D.) to the. Dublin City University. School of Computing. Supervisors: Mark Humphrys. Ray Walshe. September
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