Embodied Cognition and Multi-Agent Behavioral Emergence

Abstract

Autonomous systems embedded in our physical world need real-world interaction in order to function, but they also depend on it as a means to learn. This is the essence of artificial Embodied Cognition, in which machine intelligence is tightly coupled to sensors and effectors and where learning happens from continually experiencing the dynamic world as time-series data, received and processed from a situated and contextually-relative perspective. From this stream, our engineered agents must perceptually discriminate, deal with noise and uncertainty, recognize the causal influence of their actions (sometimes with significant and variable temporal lag), pursue multiple and changing goals that are often incompatible with each other, and make decisions under time pressure. To further complicate matters, unpredictability caused by the actions of other adaptive agents makes this experiential data stochastic and statistically non-stationary. Reinforcement Learning approaches to these problems often oversimplify many of these aspects, e.g., by assuming stationarity, collapsing multiple goals into a single reward signal, using repetitive discrete training episodes, or removing real-time requirements. Because we are interested in develo** dependable and trustworthy autonomy, we have been studying these problems by retaining all these inherent complexities and only simplifying the agent’s environmental bandwidth requirements. The Multi-Agent Research Basic Learning Environment (MARBLE) is a computational framework for studying the nuances of cooperative, competitive, and adversarial learning, where emergent behaviors can be better understood through carefully controlled experiments. In particular, we are using it to evaluate a novel reinforcement learning long-term memory data structure based on probabilistic suffix trees. Here, we describe this research methodology, and report on the results of some early experiments.