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SoarMarkupLanguage(SML)IJCAI2016

NateDerbinsky

Topics

• Bigpicture• Systemsetup+HelloSoar(homework)• Basicusage• Examplewalkthrough• Additionalresources

July11,2016 SoarMarkupLanguage(SML) 2

Soar9


SymbolicLong-TermMemories

SymbolicWorkingMemory

Procedural

Decision

Procedure

ChunkingReinforcementLearning

Action

Semantic

SemanticLearning

Episodic

EpisodicLearning

Spatial Visual SystemObject-basedcontinuousmetricspace

Perception

SoarBasicFunctions

1. Input fromenvironment2. Elaboratecurrentsituation:parallelrules3. Proposeoperatorsviaacceptable preferences4. Evaluateoperatorsviapreferences:Numericindifferentpreference5. Selectoperator6. Applyoperator:Modifyinternaldatastructures:parallelrules7. Output tomotorsystem[andaccesstolong-termmemories]

OperatorDecisionInput Output

StateElaboration

OperatorProposal

OperatorEvaluation

OperatorElaboration

OperatorApplication


BigPicture:SoarMarkupLanguage• SMLprovidesaprogrammaticinterfaceintoSoarbasedaroundsendingandreceivingcommandspackagedasXMLpackets.Usedfor…– Environments– Debuggers– Automatedexperimentation

• WritteninC++• Exported,viaSWIG(swig.org)to…– Python– Java…


SMLExampleEnvironments


CognitiveRobotics

ActionGames

GameState

Rules

HTTP REQUEST: GAME 5

Server

WebGaming

InteractiveMobileMusicGeneration

SystemSetup(1)

1. OpenEclipse2. NewJavaProject– Name=“MySMLProject”– Finish

3. NewClass– Name=“MySMLClient”– Check:“publicstaticvoidmain…”– Finish


SystemSetup(2)

4. Insidemain…Kernel kernel;

5. Addsml.jar toclasspath– Rightclickproject->Properties– JavaBuildPath– Libraries->AddExternalJar– Locatesml.jar inlib/soar/java,Open,OK

6. Hoverover“Kernel”(redunderline)– Click“Import‘Kernel’(sml)”


SystemSetup(3)

7. Finishmain…Kernel kernel = Kernel.CreateKernelInNewThread();

Agent agent = kernel.CreateAgent("soar");

System.out.println(agent.ExecuteCommandLine("print s1"));

kernel.Shutdown();

8. Runmenu->Run


SystemSetup(4)

9. Runmenu->RunConfigurations– Windows

• Environmenttab• New

– Name=PATH– Value=c:\path\to\lib\soar

–Mac/Linux• Arguments,VMarguments-Djava.library.path=/path/to/lib/soar

– Run


BasicUsagePart1:Automation

– Command execution– Loadingrules– Synchronous runcontrol– Capturingtraceoutput

Part2:BasicIO– ManagingWMEsoninput-link– Readoutput-linkWMEs+feedback

Part3:Event-DrivenEnvironment– Outputhandler


CommandExecution

Syntax“result”=agent.ExecuteCommandLine(“command”);

Try– “stats”– “epmem --stats”– “sp {test(state<s>^superstate nil)-->(<s>^foobar)}”– “printtest”


LoadingRules

SyntaxTrue/False=Agent.LoadProductions(“location”);

Try1. Load:path/to/file.soar2. Execute:“print”


SynchronousRunControl

Syntax– Agent.RunSelf(numberSteps,stepSize=Decision);– Agent.RunSelfForever();– Agent.RunSelfTilOutput();– Agent.ExecuteCommandLine(“run…”);

Try1. Run:forever2. Execute:“print--stack”


CapturingTraceOutput

1. CreateaPrintEventInterface (eventhandler)publicstaticfinalPrintEventInterface myPrinter =newPrintEventInterface(){

publicvoidprintEventHandler(int eventID,Objectdata,Agentagent,Stringmessage){System.out.println("Soarsaid:<"+message+">");

}};

1. RegisterforEventSyntax

Agent.RegisterForPrintEvent(eventId,handler,extraData);Try

agent.RegisterForPrintEvent(smlPrintEventId.smlEVENT_PRINT,myPrinter,null);


ManagingWMEsoninput-link

Syntax– Identifier =Agent.GetInputLink();– Identifier =Identifier.CreateIdWME(“attr”);– FloatElement =Identifier.CreateFloatWME(“attr”, value);– IntElement =Identifier.CreateIntWME(“attr”, value);– WMElement.DestroyWME();

Tryagent.GetInputLink().CreateStringWME("foo", "bar");agent.RunSelf(1);System.out.println(

agent.ExecuteCommandLine("p --depth 3 s1"));


Readoutput-linkWMEs+Feedback

Syntax– Int =Agent.GetNumberCommands();– Identifier=Agent.GetCommand(Int);– String=WMElement.GetAttribute();– Int =Identifier.GetNumberChildren();– WMElement =Identifier.GetChild(Int);– WMElement =Identifier.FindByAttribute(String,Int)– *Element=WMElement.ConvertTo*Element();– Identifier.AddStatus<<CompleteError>>();


OutputHandler

Syntax– Agent.AddOutputHandler(“cmd”,handler,data);

Trypublic static final OutputEventInterface cmdHandler = new OutputEventInterface() {

public void outputEventHandler(Object data, String agentName, String attributeName, WMElement pWmeAdded) {for (int i=0; i<pWmeAdded.ConvertToIdentifier().GetNumberChildren(); i++) {

final WMElement wChild = pWmeAdded.ConvertToIdentifier().GetChild(i);System.out.println("^" + wChild.GetAttribute() + " " + wChild.GetValueAsString());

}}

};

agent.AddOutputHandler("do", cmdHandler, null);agent.ExecuteCommandLine("sp {test (state <s> ^io.output-link <out>) --> (<out> ^do <d>) (<d> ^foo bar ^baz qux)}");agent.RunSelf(2);


SimpleEaters


AdditionalResources• QuickStartGuidehttp://soar.eecs.umich.edu/articles/articles/soar-markup-language-sml/78-sml-quick-start-guide

• ThreadsinSMLhttp://soar.eecs.umich.edu/articles/articles/soar-markup-language-sml/203-threads-in-sml

• CompilingSMLClientshttp://soar.eecs.umich.edu/articles/articles/soar-markup-language-sml/79-how-to-compile-sml-clients


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