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Rational OpenCog Controlled Agent

CI Status Code style: black

Description

Rational OpenCog Controlled Agent, or ROCCA, is a project aiming at creating an opencog agent that acts rationally in OpenAI Gym environments (including Minecraft via MineRL and Malmo).

At its core it relies on PLN (Probabilistic Logic Networks) for both learning and planning. In practice most of the learning is however handled by the pattern miner, which can be seen as a specialized form of PLN reasoning. Planning, the discovery of cognitive schematics, is handled by PLN and its temporal reasoning rule base. Decision is currently a hardwired module, heavily inspired by OpenPsi with a more rational sampling procedure (Thompson Sampling for better exploitation vs exploration tradeoff).

Status

For now learning is able to

  1. Discover temporal patterns based on directly observable events via the pattern miner.
  2. Turn these temporal patterns into plans (cognitive schematics).
  3. Combine these plans to form new plans, possibly composed of new action sequences, via temporal deduction.

The next steps are

  1. Add more sophisticated temporal (including dealing with longs lags between cause and effect) and then spatial inference rules.
  2. Integrate ECAN, for Attention Allocation, to dynamically restrict the atomspace to subsets of items to process/pay-attention-to.
  3. Record attention spreading to learn/improve Hebbian links.
  4. Carry concept creation and schematization (crystallized attention allocation).
  5. Record internal processes, not just attention spreading, as percepta to enable deeper forms of instrospective reasoning.
  6. Plan internal actions, not just external, to enable self-growth.

Requirements

OpenCog tools

  • cogutil (tested with revision 555a003)
  • atomspace (tested with revision 396e1e7)
  • unify (tested with revision 1e93141)
  • ure (tested with revision 4e01b02)
  • spacetime (tested with revision 962862c)
  • pln (tested with revision 08c100f)
  • miner (tested with revision 15befc4)

Third party tools

Python 3.10 vs 3.8

Python 3.10 offers a better out-of-the-box type annotation system than Python 3.8 and is thus the default required version. However you may still use Python 3.8 by checking out the python-3.8-compatible branch. Beware that such Python 3.8 branch may not be as well maintained as the master.

Install

In the root folder enter the following command (you might need to be root depending on your system):

pip install -e .

For the tools used for development:

pip install -r requirements-dev.txt

How to use

An OpencogAgent defined under the rocca/agents folder is provided that can used to implement agents for given environments. See the examples under the examples folder.

There are Jupyter notebooks provided for experimentation as well. To run them call jupyter notebook on a ipynb file, such as

jupyter notebook 01_cartpole.ipynb

TensorBoard support

Some experiments, notably the notebooks, use TensorBoard via the tensorboardX library to store event files that show certain metrics over time for training / testing (for now it's just rewards).

By default, event files will be created under the runs/<datetime><comment> directory. You can invoke tensorboard --logdir runs from the project root to start an instance that will see all the files under that directory. Open your browser to http://localhost:6006 to see its interface.

Develop

If you write code in notebooks that is exported (has the #export comment on top of the cell), remember to invoke nbdev_build_lib to update the library. Remember to use black for formatting, you can invoke black . from the project root to format everything.

You can also use the Makefile for your convenience, invoking make rocca will do both of the above in sequence.

Development container

The .devcontainer folder has configuration for VS Code devcontainer functionality. You can use it to setup a development environment very quickly and regardless of the OS you use.

  • The container has a JupyterLab instance running on the port 8888.
  • The container has a VNC server running on the port 5901.
  • The password for the VNC server started in the container is vncpassword. You can use any VNC client to see the results of rendering Gym environments this way.

Tests

Static type checking

Using type annotations is highly encouraged. One can type check the entire Python ROCCA code by calling

tests/mypy.sh

from the root folder.

To only type check some subfolder, you may call mypy.sh from that subfolder. For instance to type check the examples subfolder

cd examples
../tests/mypy.sh

Or directly run mypy on files or directories, such as

mypy rocca/rocca/agents/core.py

tests/mypy.sh merely calls mypy on all python files in the directory from which it is called while filtering out some error messages.

Unit tests

Simply run pytest in the root folder.

References

There is no ROCCA paper per se yet. In the meantime here is a list of related references