4.5 Globalist versus Localist Representations 83 SENSORY WORLD MODELING BEHAVIOR GENERATION VALUE JUDGMENT PROCESSING FRAMES MAPS Section Task Entities, Events ataes Labeled Features _ MAPS Command Attributes | abeied Regions Attributes Cost, Risk 8 pron States pe loons Plane. = Relationships ( = status {= aaanet (aN | | C WM SECTION groups ) I, c simulator | PLANNER groun AS =, SP5 classification i venice > - mb confirm grouping ria labeled 5000 m range == filter Hy groups 40 m resolution compute attributes ry grouping =i i— tatus Vehicle " , (F — . Task _ af — nS ike oY) eer ic) TA | PLANNER —_ i ‘ground % tek simulator fanaa & — air ‘ 0) - 1 min horizon filter ih labeled 500 m range Pian te attribute iM ‘objects 4m resolution i = * grouping ny EXECUTOR attention = - Subsystem __) WE status y! a | — 4 Ca Task surfaces —— (as) @ ay Q [ = | SUBSYSTE SP3 classification in IO: | \7 6, simulator | PLANNER confirm grouping tr <1 i Xt - 5s horizon filter ai labeled 1 Pil compute attributes at surfaces SO mrange — an grovning tu 40 cm resolution attention a ¢_" Primitive = <7 TF; = iE features {= fy a, ask 7 Vm | “+t PRIMITIVE SP2 classification & oO 4 Ie simulator | PLANNER ‘confirm grouping Big > =| 500 ms hori fitter iN labeled me horizon compute attnbutes Wit inaans 5 m range Plan grouping tty 4 cm resolution attention andi \ EXECUTOR Hees flo} status a jo] jo] vehicle state Paeers CY << coordinate sensor wtatn eas pixel attributes labeled transformations . Sealshr, pixels 50 ms horizon actuator state U ioe 7 SP1 : compute attributes, filter, classification : EXECUTOR ladar stereoCCD = stereo FLIR color CCD radar navigational actuator actuator signals signals signals signals signals signals signals power a | SENSORS WORLD Fig. 4.12: Albus’s perceptual, motor and modeling hierarchies 4.5.6 Joshua Blue Sam Adams and his colleagues at IBM have created a cognitive architecture called Joshua Blue [AABLO2], which has some significant similarities to CogPrime. Similar to our