ROBOT 2019 - Fourth Iberian Robotics Conference

Porto, November 20-22, 2019

Apology for the “Self” Concept

X
Ricardo Sanz

UPM Autonomous Systems Laboratory

UPM-CSIC Center for Automation and Robotics
Context and Purpose
The context of this work
My purpose coming here
 Some Context

Autonomous systems engineering – my research work

The AuR Standard work:

o IEEE IEEE-RAS Ontologies for Robotics and Automation Working
Group published the IEEE 1872-2015 standard that defines a set of
ontologies related to robotics and automation. The main one is the
Core Ontology for Robotics and Automation (CORA).

o P-1872.2 Autonomous Robotics (AuR) Ontology will extend the

CORA to represent more specific concepts and axioms that are
commonly used in the Autonomous Robotics domain.

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 Concepts

IEEE 1872-2015 Standard Ontologies for Robotics & Automation

o CORAX: The CORAX ontology defines concepts that are too general to
be in the CORA ontology but are not explicitly or completely covered by
SUMO: Design, PhysicalEnvironment, Interaction, …

o CORA: The CORA ontology defines robotics concepts. The main concept
in CORA is Robot.

o RPARTS: Any device can be a robotPart. RPARTS provides just a set of

specific types of roles that specialize the general role of robot part.

o POS: POS is an ontology about position, orientation and pose.

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 Concepts (2)

The P-1872.2 Autonomous Robotics (AuR) Ontology

Working Group is in the process of elaborating a CORA
extension to address autonomous robots.
Examples of ideas/concepts under consideration:
AutonomousRobot, Capability, Environment, Behavior,
Function, Action, Goal, Plan, Task

 P-1872.1 Robot Task Representation (RTR) Ontology

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 AutonomousRobot

[xxxx] “An autonomous robot is a goal-oriented

intelligent system that can function, decide, and interact
autonomously within structured/unstructured,
static/dynamic and observable/partially observable
environments without explicit human guidance.”

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 Purpose of this talk

Propose the inclusion of the concept of “self” (and

associated concepts) in the upcoming AuR Standard

Two parts:
o A brief apologia
o Discussion

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The Apologia of “Self”
The reasons for pursuing the robotic self
 What “Self”?

Self
noun
a person's essential being that distinguishes them
from others, especially considered as the object of
introspection or reflexive action.

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 What self?

Identity: ability of the system to distinguish itself with respect to

the environment (esp. if there are other agents out there).

Proprioception: mechanisms that allow an agent to observe

himself.
Self-awareness: being conscious of oneself. Self qualia.

Autobiographical memory: a set of experiences in which the

agent himself is the protagonist; among which the planning of the
future is included.

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 Self in/for robots?

Design-time Engineering
Run-time Operation

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 Self in the Run-time Robot

System reflection –perception,

action – is a enabling
capability for adaptation.
Adaptation is neccessary to
achieve autonomy in open
situations.
Adptation is key to robustness
and resilience.

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 Self in the Run-time Robot System

In mutiagent systems,
individual identity is very
relevant.
Robots are not isolated
agents. They always are part
of larger systems.

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 Self in the Robot System Life-cycle

Explicit availability of “self” provides support for the

engineering processes of building self-x mechansims
o As reusable components
o As system design patterns

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 How I see it

Having a self is necessary for robust and resilient

autonomous robots. Many problems in todays’
autonomous robots can be traced to their minimalistic,
implicit selves.
The “self” concept can be leveraged in both robot
engineering processes –design-time– and robot
operation –run-time.

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From Self-x to Self-*

“Self” provides a system architectural strategy to go

from self-x to self-*
Self-configure Self-teach Self-aware

Self-drive Self-organise Self-x

Self-tune Self-explain …

Self-repair Self-manage
 Self in robots?

Self as system. The subject agent system performing

the action. The object agent system receiving the action.
Self as locus of control. The source of authority in an
action.
Self as knowledge. The system image represented in
the system itself.
Self as pattern. Reflection in perception and action.

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 Perception World Model Behavior

Robot
Model

Logical Logical
Sensors Actuators

Robot
Physical/ Physical
Sensors Actuators

World

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 Goal setting
S Robot Mind

S
Evaluating
S

Sensing Modeling Model Deciding Acting

S S
S
S

Thinking

S S
Robot body

S
External World

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The Discussion
Please, let me know what you think
 Question #1 - Relevance

Is the concept of “self” relevant in robotics?

o General robotics
o Autonomous robotics

Why is it relevant?

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 Question #2 - Lifecycle

Should the “self” concept target off-line or on-line

use?

Off-line On-line
Robot system Robot system
construction operation

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 Question #3 - Anthropomorphism

Is the robot “self” concept necessarily aligned with the

human conception of self?

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 Question #4 - Grammar

Is “self” a noun or an adjective?

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 Question #5 - Standardization

Is “Self” standardizable?
Should AuR Ontology include “Self”?
Is it just a particular “Capability” or “robotPart”?

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 My (expected) Conclusions

System reflection is a critical capability for autonomy

Standards help create better systems
AuR Ontology shall include “Self”

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Thanks !!

Apologia for the “Self” Concept

Ricardo Sanz

UPM Autonomous Systems Laboratory

UPM-CSIC Center for Automation and Robotics