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<Paper uid="C00-2164">
  <Title>Perception, Concepts and Language: 7~oA~9 and IPaGe</Title>
  <Section position="3" start_page="0" end_page="1092" type="intro">
    <SectionTitle>
2 Conceptualization
</SectionTitle>
    <Paragraph position="0"> The example domain of our work is the artificial agent CoT~,el (c.f. (Milde et al., 1997)). It is a sin&gt; ulated assembly robot, al)le to manipulate wooden toy parts and instructable by a human user. Due to its behavior-l)ased control architecture, not every instructed action is carried out as expected. Thus, an explanation of ongoing actions by the robot is desir- null able. We shall deal with a specific kind of utterances, namely situation/action descriptions (SADs).</Paragraph>
    <Paragraph position="1"> SADs are descriptions of the enviromnent and the actions of an agent from its own perspective.</Paragraph>
    <Paragraph position="2"> In the chosen domain, possible SADs are: Ich bewege mich zu dem blauen Wiirfel (I am moving towards the bhm cube) or Ich lege den Wiirfel auf eine Leiste (I am placing a cube on a connection bar).</Paragraph>
    <Paragraph position="3"> A theoretical and an application-oriented issue are addressed with the investigation of SADs: First, we claim that internal and sensoric parameters of the agent play a decisive role in deternfining the semantics of SADs, especially of action verbs. Second, by generating SADs, we enable an interactor to understand what the agent is doing. This is particularly interesting if there is no direct visual contact between the agent and the interlocutor.</Paragraph>
    <Paragraph position="4"> Sensor data (visual, telemetric, haptic) and internal states (activation of behavior generating modules (BM), joint values) of Co7C/A set've as selection criteria (SC) of interpretative schemata (ISM) containing also conceptual units (Goeeke and Milde, 1998). These units constitute the interface to tile surface generation process. If the SC are present in the current sensoric pattern of the robot, an ISM may become active and the corresponding concept information is passed to surface generation (c.f. section 3). Some SC are temporally extended: A sensor value has to be in some interval for a certain amount of time to function as a trigger for an ISM.</Paragraph>
    <Paragraph position="5"> Additional to sensor data and internal values, ISM themselves can be part of the SC of other ISM. The latter ones are then said to have a higher degree of complexity then the former ones. ISM may be subsumed by other ISM or may bear a part/wholerelation to other ISM. An ISM is subsumed by another one if its SC constitute a proper subset of the SC of the subsuming ISM, including time restrictions. For example, the ISM MOVE, detecting a movement of the robot that is not specified with respect to direction or velocity, is subsumed by MOVE-TO-OBJECT which, in addition, recognizes a goal of the movement, namely some object. Part/wholerelations of ISM exist if a &amp;quot;higher&amp;quot; ISM combines others to identify more complex actions. In this case, the &amp;quot;lower&amp;quot; ISM not necessarily has to be active over the whole time interval that the higher one covers.</Paragraph>
    <Paragraph position="6"> Thus, ISM form a hierarchy (see fig. 1). ISM on the lowest level (St.;E, MOVE, BUMI', ...) are basic in the sense that they only contain sensor data as SC.</Paragraph>
    <Paragraph position="7"> Complex ISM in levels 1 to 4 integrate sensor data as well as other ISM.</Paragraph>
    <Paragraph position="8"> When an ISM becomes active, the corresponding conceptual representation (CR) is a possible candidate to be passed to the surfime generation component. As it is possible that several ISM are active .-d; ~5:'f~'~7&amp;quot;S~Z~{~it:?gfiJ:;'~5g'~}f&lt;'Y'~T~2&amp;quot;-' i''::-C/{:' i';}~ ; &amp;quot;-' !&amp;quot;' &amp;quot; .::'&amp;quot; ~'~ i::: :'~&amp;quot;&amp;quot; &amp;quot;,  tive ISM are coloured; edges mark subsumption or part/whole-relations.</Paragraph>
    <Paragraph position="9"> at the same time, a selection has to take place. At present, the only criterium relevant for selection is the position of the corresponding ISM within the hierarchy. Thus, only the CR of the highest active ISM is going to be verbalized at the given time.</Paragraph>
    <Paragraph position="10"> CRs contain information about objects, their properties attd about events tile agent is involved in. They follow the Conceptual Semantics by ,Jackendoff (Jackendoff, 1990). In the next section, an example shows the representations used in goAD in more detail.</Paragraph>
    <Section position="1" start_page="1091" end_page="1092" type="sub_section">
      <SectionTitle>
2.1 Example
</SectionTitle>
      <Paragraph position="0"> In the following, the conceptualization of tile SAD Ich drehe mich zu dem blauen Wiirfel (I am turning to the bhm cube) is going to illustrate the processing mechanisms described in the previous section.</Paragraph>
      <Paragraph position="1"> Suppose a situation where visual and movement information is provided by the sensors of tile robot. Among other things, the ISM SEIC checks for the existance of values in the interface for either object type (type), object color (color) or object position within the visual field (x-g und y-g). A possible configuration is type: c color: b x-g: 102 y-g: 99 width: 83 height: 200 The SC of SEE is a disjunction of several conditions. If any of these conditions is met, tile ISM becomes active: x-g &gt; 0 \[ y-g &gt; 0 \[ width  &gt; 0 \[ height &gt; 0. The ('Oml)arison between the attribute-value pairs in the interface and the SC of Sl,',I,&amp;quot; shows that solne relevant paranmters are indee(1 present. Thus, SEE t)ecomes active.</Paragraph>
      <Paragraph position="2"> The understmcified CR of SEE is EVENT: see, AGENT: +-, OBJECT: 0BJ, (COLOR: COL). EVENT and AGENT arc instantiated with default vahms. Tile associated transition rules sl)ecit\[y the remaining conceptual parameters: type OBJ ---+ OBJ color COL --+ COL Consequently, the comt)lete CI1, of sI.:g is EVENT: see, AGENT: i, OBJECT: c, COLOR: b 2 On the basis of the sensor data down: -8 and velocity: 0.441355, denoting a downward moveinent with a certain velocity, the ISM MOVF becomes active at the same time.</Paragraph>
      <Paragraph position="3"> The basic ISM SEE and MOVE serve as SC for the COlnplex ISM TUI{N-TO which identifies the turning of the robot towards an object;. Furthermore, TURNq'O has some additional SC. The complete set ix as follows:</Paragraph>
      <Paragraph position="5"> Thus, if MOVE an(1 SEE are active tbr five cycles and, in addition, the object in the visual tMd is moving to the center of vision, 'I'\[JI/.N-'I'O is activated. MOVE and SEE make available their CRs to TUI/N-TO. By this nmans, 1)reviously unst)e(:ificd t)arameters in 't'UII,N-TO's Cl~, c&amp;n })e spell(~d out via the. transition rule see(OBa, COL) ~ OBJECT, C()L()1\].</Paragraph>
      <Paragraph position="6"> resulting in the flflly instantiated CR EVENT: turn, AGENT: +-, PATH: to, OBJECT: c, COLOR: b.</Paragraph>
      <Paragraph position="7"> If TUI/N-TO turns out to be the highest active ISM at; a given time, it is selected for surface generation.</Paragraph>
    </Section>
  </Section>
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