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\def\mydate{2005-07-05}
\def\myconference{Humaine WP7 Workshop, London}
\def\myname{Stefan Rank\inst{1} \and Pablo Lucas dos Anjos\inst{2}}
\def\myinstitute{\inst{1}Austrian Research Institute for Artificial Intelligence
                 \and
                 \inst{2}Heriot-Watt University
                 }
% using hacky \large in title to get appropriate size for title and subtitle:
\def\mytitle{\large What is In an Affective Architecture for Situated Agents?}
\def\mysubtitle{\large Examples from Existing Systems}
\def\myabbrevtitle{Affective Architecture Examples}
\def\mysubject{Affective Architectures}
\def\mykeywords{appraisal, agent, emotion, affect, behaviour, situatedness}

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\title[\myabbrevtitle]{\mytitle}
\subtitle{\mysubtitle}
\author{\myname}
\institute{\myinstitute}
\date{\mydate}
\keywords{\mykeywords}
\subject{\mysubject}

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CONTENTS
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\begin{document}

\frame{
  \titlepage
  \vspace{-1cm}
  \begin{center}
    %\pgfimage[width=40pt]{images/any suitable title image???}\\
    {\tiny disclaimer/acknowledgments: see last slide}
  \end{center}
}

\frame{
  \frametitle{The WP7 Workgroup 3 Theme}
  \begin{block}{
      \vspace{0.05cm}
      \center{Bridging the gap between lower- and higher-level\\ cognition and action}
      \vspace{0.05cm}
    }
    \vspace{0.05cm}
    \center{Focussing on \emph{action selection} and \emph{decision making}}
    \vspace{0.05cm}
  \end{block}
  \vspace{0.1cm}
  \pause
  Problems:
  \begin{itemize}
    \item Diverse scenarios for affective architectures
    \item Differentiation between higher vs. lower levels
    \item Differing terminologies to describe \emph{components/processes}\\
          e.g. behaviour coordination vs. action selection
  \end{itemize}
  \vspace{0.3cm}
  \pause
  Goal: Identify systemic relations between\\
  {\centering Scenario Characteristics - Architectural Designs - Emotion Theories}\\
  \vspace{0.3cm}
  \pause
  $\Rightarrow$ Examples for terminological differences
  \note[item]{not only emotion-related systems}
}

\frame {
  \frametitle{Existing Systems: Behaviour-based, Robotics, ...}
  Lower level: short time-scale, direct coupling
  \pause
  \begin{itemize}
    \item Behaviour Coordination {\scriptsize\cite{AlthausChristensen2003}}\\
          behaviour: continuous translation from sensor input to motor output\\
          \note[item]{examples: wander, sleep, eat, wall-following}
          task $\leftarrow$ composition of behaviours\\
          behaviour arbitration vs. fusion, sensing $\subset$ behaviour
    \pause
    \item Two-resource problem {\scriptsize\cite{AvilaGarciaCanamero2005}}\\
          action selection synonym for behaviour selection\\
          \note[item]{similar for behaviour coordination and decision making}
          motivational states\note[item]{as roots of active behaviours}, activity cycles
    \pause
    \item Behaviour Synthesis Architecture Scenarios {\scriptsize\cite{BarnesETAL1997}}\\
          behaviour pattern:\\
          translation + utility function\\
          one task (activity)
    \pause
          \onslide*<.->{
          \begin{textblock}{3}(12.5,9.5)
            \pgfimage[width=2.5cm]{images/BehSynth-fredandginger}
          \end{textblock}
          }
    \item TAME {\scriptsize\cite{MoshkinaArkin2003}}\\
          behaviour assemblages, behaviour=action=activity\\
          \note[item]{Arkin equates motivation and emotion (ethological background)}
     \pause
    \item Cathexis {\scriptsize\cite{Velasquez1999}}: Behaviour = goal-directed activity
  \end{itemize}
  \pause
  Higher-level Processes?
}

\frame{
  \frametitle{Example: Leonardo}
  \begin{textblock}{12}(0.4,1.6)
    \movie[poster,width=12cm,height=9cm]{}{media/Leonardo-trackingball.avi}
  \end{textblock}
}

\frame {
  \frametitle{Existing Systems: BDI, Planning, ...}
  Higher level: longer time-scales (prediction), loose coupling
  \pause
  \begin{itemize}
    \item SPARK {\scriptsize\cite{MorleyMyers2004}}\\
          executor, beliefs, procedures, intentions, task expressions\\
          actions: primitive vs. non-primitive
    \pause
    \item EMA {\scriptsize\cite{GratchMarsella2004}}\\
          appraisal \& coping, operate on causal interpretation of events\\
          in terms of states and actions,\note[item]{EMA (based on planning representations)}
          plans \& task network \note[item]{operators do the rest}
    \pause
    \item FearNot! architecture {\scriptsize\cite{PaivaETAL2005}}
    \pause
    \item SimHuman {\scriptsize\cite{AvradinisETAL2004}}\\
          hybrid behaviour architecture, low-level emotion,\\
          goals/standards/preferences/expectations,\\
          \note[item]{decision making is named as a separate process}
          higher-level processes: appraisal of situations,\\
          belief revision, causal attribution,\\
          actions $\rightarrow$ ... $\rightarrow$ motivations
          \onslide*<5->{
          \begin{textblock}{3}(11.5,9.5)
            \pgfimage[width=3cm]{images/SimHuman}
          \end{textblock}
          }
  \end{itemize}
  \note[item]{complexity that requires levels ?}
}

\frame{
  \frametitle{Example from SimHuman}
  \begin{textblock}{12}(0.1,1.9)
    \movie[poster,width=12.6cm,height=8.4cm]{}{media/SimHuman-catchingball.avi}
  \end{textblock}
}

\frame{
  \frametitle{Example from SASO / EMA}
  \begin{textblock}{12}(0.1,1.9)
    \movie[poster,width=12.6cm,height=8.4cm]{}{media/EMA-saso-conversation.avi}
  \end{textblock}
  \note[item]{SASO = Stability and Support Operations}
}

\frame {
  \frametitle{Existing Systems: Frameworks, Interactive Narrative, ...}
  \begin{itemize}
    \item 3-layer architecture {\scriptsize\cite{Gat1997}}\\
          parallel processes, primitive behaviour/skill = transfer function,\\
          constraints: minimal use of internal state, bounded (time/space)\\
          sequencer: behaviour coordination
    \pause
    %\item ALEC {\scriptsize\cite{Gadanho2003}}\note[item]{ALEC: for robots actually}\\
          %learning based on hand-crafted "low-level behaviours",\\
          %task = overall requirements in a scenario,\\
          %goal-system monitors homeostatic variables
    %\pause
    \item Behaviour-oriented design {\scriptsize\cite{Bryson2000}}
          \note[item]{BOD: problem is action selection}\\
          behaviour groups related sensing \& acting functions with state,\\
          action/sensing $\rightarrow$ action patterns $\rightarrow$ competence $\rightarrow$ drives
    \pause
    \item PSI {\scriptsize\cite{BartlDoerner1998}}
          action regulation, motivator, modulator, motives $\rightarrow$ intentions (run to achieve their goal)
    \pause
    \item Gertie \& WB {\scriptsize\cite{LoyallETAL2004}}\\
          behaviour authoring, execution of goals $\rightarrow$ behaviours $\rightarrow$ acts\\ \note[item]{parameterised acts/sensing expressions to low-level system (several each second, interruptible)}
          priorities/mutual exclusion/elaborate failures
          \note[item]{emotion labels for failing/succeeding behaviours marked relevant}
    \pause
    \item ABL {\scriptsize\cite{MateasStern2004}}\\
          similar, multi-agent coordination
    \pause
          \onslide*<.->{
          \begin{textblock}{3}(11.1,11.5)
            \pgfimage[width=3cm]{images/Facade-arguing}
          \end{textblock}
          }
  \end{itemize}
  \note[item]{complexity that requires levels?}
  $\Rightarrow$ multiple time-scales, flexible coupling
}

\frame{
  \frametitle{Example from Zoesis: Pearl Demon}
  \begin{textblock}{12}(0.1,1.9)
    \movie[poster,width=12.6cm,height=8.4cm]{}{media/PearlDemonAndPrincess.avi}
  \end{textblock}
}

\frame {
  \frametitle{The End}
  \vfill
  \begin{alertblock}{}
    \center{Thank you for your attention}
  \end{alertblock}
  \vfill
}

\frame[allowframebreaks]{
  \frametitle{References}
  \scriptsize
  \begin{thebibliography}{99}

   \bibitem[AlthausChristensen2003]{AlthausChristensen2003}
   Althaus P., Christensen H.I.: Behaviour Coordination in Structured Environments,
   Advanced Robotics, 17(7):657-674, 2003.

   \bibitem[AvradinisEtAl2004]{AvradinisETAL2004}
   Avradinis N., Panayiotopoulos T., Vosinakis S.: Synthetic Characters with Emotional States,
   in Vouros G.A., Panayiotopoulos T. (eds.): Methods and Applications of Artificial Intelligence,
   Third Helenic Conference on AI, SETN 2004, Samos, Greece, May 5-8, 2004, LNAI 3025,
   Springer-Verlag Berlin Heidelberg, 505-514, 2004.

   \bibitem[AvilaGarciaCañamero2005]{AvilaGarciaCanamero2005}
   Avila-Garcia O., Canamero L.: Hormonal Modulation of Perception in Motivation-Based Action
   Selection Architectures, in Agents that Want and Like: Motivational and Emotional Roots of
   Cognition and Action, Proceedings of the AISB05 Symposium, April 12-15 2005, University of
   Hertfordshire, Hatfield, UK, pp.9-16, 2005.

   \bibitem[BarnesEtAl1997]{BarnesETAL1997}
   Barnes D.P., Ghanea-Hercock R.A., Aylett R.S., Coddington A.M.: Many Hands Make Light Work?
   An Investigation into Behaviourally Controlled Co-operant Autonomous Mobile Robots,
   in Johnson W.L. (ed.), Proceedings of the First International Conference on Autonomous Agents,
   Marina del Rey, CA, USA, February 5-8, ACM Press, New York, NY, USA, pp.413-420, 1997.

   \bibitem[BartlDörner1998]{BartlDoerner1998}
   Bartl C., Doerner D.: Comparing the behaviour of PSI with human behaviour in the BioLab game,
   Lehrstuhl Psychologie II (Allgemeine Psychologie und Methodenlehre), Univ. Bamberg,
   Memorandum 32, 1998.

   \bibitem[Bryson2000]{Bryson2000}
   Bryson J.J.: Hierarchy and Sequence vs. Full Parallelism in Action Selection, in Meyer J.-A. et
   al. (eds.): From Animals to Animats 6 (SAB00), MIT Press, Cambridge, MA, USA, 147-156, 2000.

   \bibitem[Gadanho2003]{Gadanho2003}
   Gadanho S.C.: Learning Behavior-Selection by Emotions and Cognition in a Multi-Goal Robot Task,
   Journal of Machine Learning Research, 4:385-412, 2003.

   \bibitem[Gat1997]{Gat1997}
   Gat E.: On Three-Layer Architectures,
   in Kortenkamp D., Bonasso R.P., Murphy R. (eds.): Artificial Intelligence and Mobile Robots,
   MIT/AAAI Press, 1997.

   \bibitem[GratchMarsella2004]{GratchMarsella2004}
   Gratch J., Marsella S.: A Domain-independent Framework for Modelling Emotion,
   Cognitive Systems Research, 5(4):269-306, 2004.

   \bibitem[LoyallEtAl2004]{LoyallETAL2004}
   Loyall A.B., Reilly W.S.N., Bates J., Weyhrauch P.: System for Authoring Highly Interactive,
   Personality-Rich Interactive Characters, in Boulic R., Pai D.K. (eds.): Proceedings of the 2004
   ACM SIGGRAPH/Eurographics symposium on Computer animation, Grenoble, France,
   ACM Press, New York, NY, USA, 59-68, 2004.

   \bibitem[MateasStern2004]{MateasStern2004}
   Mateas M., Stern A.: A Behavior Language: Joint Action and Behavioural Idioms,
   in Prendinger H., Ishizuka M. (eds.), Life-Like Character Tools, Affective Functions, and
   Applications, Series: Cognitive Technologies, Springer, 2004.

   \bibitem[MorleyMyers2004]{MorleyMyers2004}
   Morley D., Myers K.: The SPARK Agent Framework,
   in Jennings N. et al. (eds.), Proceedings of the third International Joint conference on
   Autonomous agents and multiagent systems (AAMAS'04), July 19-23, 2004, New York City, NY, USA,
   IEEE Computer Society Press, Washington D.C., USA, Vol.2, pp.714-721, 2004.

   \bibitem[MoshkinaArkin2003]{MoshkinaArkin2003}
   Moshkina L., Arkin R.C.: On TAMEing Robots,
   Proc. IEEE International Conference on Systems, Man and Cybernetics,
   October 5-8,2003, Hyatt Regency, Washington D.C., USA, 2003.

   \bibitem[PaivaEtAl2005]{PaivaETAL2005}
   Paiva A., et al.: ,
   Applied Artificial Intelligence, 2005.

   \bibitem[Velasquez1999]{Velasquez1999}
   Velasquez J.D.: An Emotion-Based Approach to Robotics,
   Intelligent Robots and Systems. IROS '99. Proceedings.
   IEEE/RSJ International Conference, vol.1 pp.235-240, 1999.

  \end{thebibliography}
}

\frame {
  \frametitle{Disclaimer and Acknowledgments}
  \begin{itemize}
    \item These notes reflect only the authors' views. The European Community is not liable for any use that may be made of the information contained herein
    \item This work was funded by the EU FP6 Network of Excellence Humaine [IST-2002-2.3.1.6 507422]
    \item OFAI is supported by  the Austrian Federal Ministry for Education, Science and Culture and by the Austrian Federal Ministry for Transport, Innovation and Technology
  \end{itemize}
}


\end{document}
