good morning so I’m excited to share with you
so I’m excited to share with you
so I’m excited to share with you something that I’ve been working on and
something that I’ve been working on and
something that I’ve been working on and thinking about for many many years so
thinking about for many many years so
thinking about for many many years so what do you think about morality and
what do you think about morality and
what do you think about morality and ethics and justice and fairness and all
ethics and justice and fairness and all
ethics and justice and fairness and all of these concepts you often think about
of these concepts you often think about
of these concepts you often think about human societies you think about how we
human societies you think about how we
human societies you think about how we give up our own self-interest in the
give up our own self-interest in the
give up our own self-interest in the interest of the greater good right of
interest of the greater good right of
interest of the greater good right of the society and it’s not unique to
the society and it’s not unique to
the society and it’s not unique to humans some of you may have seen a TED
humans some of you may have seen a TED
humans some of you may have seen a TED talk by a speaker who points out a
talk by a speaker who points out a
talk by a speaker who points out a number of examples of morality and
number of examples of morality and
number of examples of morality and fairness in primates chimpanzees and
fairness in primates chimpanzees and
fairness in primates chimpanzees and monkeys and in fact through the entire
monkeys and in fact through the entire
monkeys and in fact through the entire animal kingdom in many many classes of
animal kingdom in many many classes of
animal kingdom in many many classes of animals you see examples of this
animals you see examples of this
animals you see examples of this cooperative behavior emerge and in fact
cooperative behavior emerge and in fact
cooperative behavior emerge and in fact to the smallest creatures there are
to the smallest creatures there are
to the smallest creatures there are species of garden ants that will lick
species of garden ants that will lick
species of garden ants that will lick pathogens of the infected backs of their
pathogens of the infected backs of their
pathogens of the infected backs of their comrades so my research has led me to
comrades so my research has led me to
comrades so my research has led me to kind of expand this notion of
kind of expand this notion of
kind of expand this notion of cooperation to look at not just living
cooperation to look at not just living
cooperation to look at not just living things but also engineered systems so
things but also engineered systems so
things but also engineered systems so let’s begin with a bit of a definition I
let’s begin with a bit of a definition I
let’s begin with a bit of a definition I think of autonomous agents that will
think of autonomous agents that will
think of autonomous agents that will make their own decisions and they will
make their own decisions and they will
make their own decisions and they will look at what’s in the world around them
look at what’s in the world around them
look at what’s in the world around them and decide in their own best interest
and decide in their own best interest
and decide in their own best interest what the decisions should be at each
what the decisions should be at each
what the decisions should be at each moment in time and in my line of work
moment in time and in my line of work
moment in time and in my line of work these agents are not living creatures
these agents are not living creatures
these agents are not living creatures but they’re engineered systems and in
but they’re engineered systems and in
but they’re engineered systems and in particular wireless devices and systems
particular wireless devices and systems
particular wireless devices and systems things like wireless sensors are mobile
things like wireless sensors are mobile
things like wireless sensors are mobile devices ground robots aerial robots
devices ground robots aerial robots
devices ground robots aerial robots routers and autonomous vehicles with
routers and autonomous vehicles with
routers and autonomous vehicles with radios in them that can talk to other
radios in them that can talk to other
radios in them that can talk to other cars so in my research I develop and
cars so in my research I develop and
cars so in my research I develop and design algorithms and an implement
design algorithms and an implement
design algorithms and an implement software that would enable these devices
software that would enable these devices
software that would enable these devices and systems to behave autonomously in
and systems to behave autonomously in
and systems to behave autonomously in their own interest and then we use
their own interest and then we use
their own interest and then we use mathematics and empirical studies to
mathematics and empirical studies to
mathematics and empirical studies to evaluate the behavior of these
evaluate the behavior of these
evaluate the behavior of these autonomous agents that we’ve engineered
autonomous agents that we’ve engineered
autonomous agents that we’ve engineered so
so
so the challenge is that the very thing
the challenge is that the very thing
the challenge is that the very thing that makes autonomous agents interesting
that makes autonomous agents interesting
that makes autonomous agents interesting and useful which is their ability to
and useful which is their ability to
and useful which is their ability to make their own decisions in their own
make their own decisions in their own
make their own decisions in their own self-interest also impedes their ability
self-interest also impedes their ability
self-interest also impedes their ability to interact with others and so when we
to interact with others and so when we
to interact with others and so when we think about societies of autonomous
think about societies of autonomous
think about societies of autonomous agents which are collections of these
agents which are collections of these
agents which are collections of these autonomous ages that have to interact
autonomous ages that have to interact
autonomous ages that have to interact with each other and they’re sharing some
with each other and they’re sharing some
with each other and they’re sharing some common resources maybe it’s time in
common resources maybe it’s time in
common resources maybe it’s time in space or for the wireless devices I work
space or for the wireless devices I work
space or for the wireless devices I work with it could be wireless bandwidth it
with it could be wireless bandwidth it
with it could be wireless bandwidth it could be data it could be energy they
could be data it could be energy they
could be data it could be energy they really have to figure out how to do that
really have to figure out how to do that
really have to figure out how to do that how do they interact as an autonomous
how do they interact as an autonomous
how do they interact as an autonomous network so Garrett Hardin actually wrote
network so Garrett Hardin actually wrote
network so Garrett Hardin actually wrote about what happens when groups of
about what happens when groups of
about what happens when groups of autonomous agents or individuals in
autonomous agents or individuals in
autonomous agents or individuals in human societies interact with each other
human societies interact with each other
human societies interact with each other he referred to this as the tragedy of
he referred to this as the tragedy of
he referred to this as the tragedy of the Commons he said ruin is the
the Commons he said ruin is the
the Commons he said ruin is the destination toward which all men rush
destination toward which all men rush
destination toward which all men rush when they each pursue their best
when they each pursue their best
when they each pursue their best interest in a society that believes in
interest in a society that believes in
interest in a society that believes in such sort of freedom of following your
such sort of freedom of following your
such sort of freedom of following your self-interest so my central thesis is
self-interest so my central thesis is
self-interest so my central thesis is this if you think about all of these
this if you think about all of these
this if you think about all of these different types of ethical and moral
different types of ethical and moral
different types of ethical and moral notions and concepts we have evolved and
notions and concepts we have evolved and
notions and concepts we have evolved and see in our societies that are meant to
see in our societies that are meant to
see in our societies that are meant to help us identify when humans and
help us identify when humans and
help us identify when humans and individuals are behaving or misbehaving
individuals are behaving or misbehaving
individuals are behaving or misbehaving and how society as a whole should
and how society as a whole should
and how society as a whole should penalize misbehavior and incentivize
penalize misbehavior and incentivize
penalize misbehavior and incentivize good behavior that all of these moral
good behavior that all of these moral
good behavior that all of these moral and ethical notions in fact can be
and ethical notions in fact can be
and ethical notions in fact can be extended to engineered systems that we
extended to engineered systems that we
extended to engineered systems that we can get them to behave not just in their
can get them to behave not just in their
can get them to behave not just in their self-interest but cooperatively let me
self-interest but cooperatively let me
self-interest but cooperatively let me give you some examples from my research
give you some examples from my research
give you some examples from my research so consider a collection of wireless
so consider a collection of wireless
so consider a collection of wireless devices that are communicating through a
devices that are communicating through a
devices that are communicating through a wireless access point or a router and we
wireless access point or a router and we
wireless access point or a router and we all have these in our homes now and
all have these in our homes now and
all have these in our homes now and imagine that we have a software running
imagine that we have a software running
imagine that we have a software running on our wireless devices or mobile
on our wireless devices or mobile
on our wireless devices or mobile devices that
devices that
devices that autonomously in the interest of the user
autonomously in the interest of the user
autonomously in the interest of the user that is supporting is trying to maximize
that is supporting is trying to maximize
that is supporting is trying to maximize the data rate and minimize the data
the data rate and minimize the data
the data rate and minimize the data delay that it experiences people call it
delay that it experiences people call it
delay that it experiences people call it lags sometimes and if we had similar
lags sometimes and if we had similar
lags sometimes and if we had similar autonomous software and all of our
autonomous software and all of our
autonomous software and all of our devices each of them would do the same
so what’s the problem
so what’s the problem well it turns out that they can each
well it turns out that they can each
well it turns out that they can each enhance their own data rate by just
enhance their own data rate by just
enhance their own data rate by just sending more but the delay that the
sending more but the delay that the
sending more but the delay that the experience depends on the behavior of
experience depends on the behavior of
experience depends on the behavior of the other autonomous agents in the
the other autonomous agents in the
the other autonomous agents in the network it turns out that the more data
network it turns out that the more data
network it turns out that the more data you send in the slower the network
you send in the slower the network
you send in the slower the network becomes for every one where we’ve all
becomes for every one where we’ve all
becomes for every one where we’ve all experienced this in the context of
experienced this in the context of
experienced this in the context of traffic for example we have a lot of
traffic for example we have a lot of
traffic for example we have a lot of cars in the highway you drive slower and
cars in the highway you drive slower and
cars in the highway you drive slower and so when we mathematically analyze this
so when we mathematically analyze this
so when we mathematically analyze this problem we observe that in fact you do
problem we observe that in fact you do
problem we observe that in fact you do end up with this tragedy of the Commons
end up with this tragedy of the Commons
end up with this tragedy of the Commons everyone behaves selfishly and
everyone behaves selfishly and
everyone behaves selfishly and everyone’s utility suffers so I studied
everyone’s utility suffers so I studied
everyone’s utility suffers so I studied this problem with two of my former PhD
this problem with two of my former PhD
this problem with two of my former PhD students at the USC Viterbi School of
students at the USC Viterbi School of
students at the USC Viterbi School of Engineering and we formulated this
Engineering and we formulated this
Engineering and we formulated this problem mathematically we analyzed it
problem mathematically we analyzed it
problem mathematically we analyzed it and really racked our brains for four
and really racked our brains for four
and really racked our brains for four months to try and figure out how do you
months to try and figure out how do you
months to try and figure out how do you get over this well it turns out what you
get over this well it turns out what you
get over this well it turns out what you need to do is to make the router also an
need to do is to make the router also an
need to do is to make the router also an autonomous agent and essentially behave
autonomous agent and essentially behave
autonomous agent and essentially behave like an evil mob boss sorry I mean a
like an evil mob boss sorry I mean a
like an evil mob boss sorry I mean a government official and what it has to
government official and what it has to
government official and what it has to do is to basically threaten them right
do is to basically threaten them right
do is to basically threaten them right and I’m an engineering professor I’ll
and I’m an engineering professor I’ll
and I’m an engineering professor I’ll make a slight digression the way
make a slight digression the way
make a slight digression the way threatens them is it gives them a
threatens them is it gives them a
threatens them is it gives them a function and it’s an f of X where X is
function and it’s an f of X where X is
function and it’s an f of X where X is the amount of data that they provide and
the amount of data that they provide and
the amount of data that they provide and the f of X is the amount of data it’s
the f of X is the amount of data it’s
the f of X is the amount of data it’s going to lose if they provide too much
going to lose if they provide too much
going to lose if they provide too much so well what did these autonomous agents
so well what did these autonomous agents
so well what did these autonomous agents start to do well they panic just a
start to do well they panic just a
start to do well they panic just a little bit like oh wait a second if I
little bit like oh wait a second if I
little bit like oh wait a second if I send too much I’m going to lose data and
send too much I’m going to lose data and
send too much I’m going to lose data and now when they compute the best solution
now when they compute the best solution
now when they compute the best solution for themselves in their own best
for themselves in their own best
for themselves in their own best interest they take into account this
interest they take into account this
interest they take into account this threat from the router and they compute
threat from the router and they compute
threat from the router and they compute a new solution each of them does this
a new solution each of them does this
a new solution each of them does this and amazingly it turns out that if you
and amazingly it turns out that if you
and amazingly it turns out that if you design that function that I described
design that function that I described
design that function that I described carefully the result is fantastic
carefully the result is fantastic
carefully the result is fantastic everyone’s just eager to send the right
everyone’s just eager to send the right
everyone’s just eager to send the right amount of data and everyone’s happy they
amount of data and everyone’s happy they
amount of data and everyone’s happy they get just as much data as they want
get just as much data as they want
get just as much data as they want through the network they don’t suffer
through the network they don’t suffer
through the network they don’t suffer lag and all of this thanks to just a
lag and all of this thanks to just a
lag and all of this thanks to just a little thread let’s look at a different
little thread let’s look at a different
little thread let’s look at a different example this is a network of wireless
example this is a network of wireless
example this is a network of wireless sensors that’s deployed in the rth
sensors that’s deployed in the rth
sensors that’s deployed in the rth building in the southwest corner of our
building in the southwest corner of our
building in the southwest corner of our campus it’s a network of wireless
campus it’s a network of wireless
campus it’s a network of wireless sensors and actuators that each have a
sensors and actuators that each have a
sensors and actuators that each have a processor and a radio that allows them
processor and a radio that allows them
processor and a radio that allows them to communicate with other devices nearby
to communicate with other devices nearby
to communicate with other devices nearby and it’s really a testbed that allows us
and it’s really a testbed that allows us
and it’s really a testbed that allows us to test out different applications and
to test out different applications and
to test out different applications and ideas that we have algorithmically so we
ideas that we have algorithmically so we
ideas that we have algorithmically so we got to wondering how do we get each of
got to wondering how do we get each of
got to wondering how do we get each of the nodes in this network to behave
the nodes in this network to behave
the nodes in this network to behave autonomously in a way that they would
autonomously in a way that they would
autonomously in a way that they would get benefit from their neighbors and
get benefit from their neighbors and
get benefit from their neighbors and also basically collaborate so that the
also basically collaborate so that the
also basically collaborate so that the overall network performance depending on
overall network performance depending on
overall network performance depending on the application is as good as possible
the application is as good as possible
the application is as good as possible now the actual details of what that
now the actual details of what that
now the actual details of what that means depends a little bit on the
means depends a little bit on the
means depends a little bit on the application but we could formulate a
application but we could formulate a
application but we could formulate a canonical problem of cooperation in an
canonical problem of cooperation in an
canonical problem of cooperation in an autonomous Network so we have a
autonomous Network so we have a
autonomous Network so we have a collection of these autonomous agents
collection of these autonomous agents
collection of these autonomous agents they talk to each other on what we call
they talk to each other on what we call
they talk to each other on what we call a network graph so you have each agent
a network graph so you have each agent
a network graph so you have each agent can talk to a set of other neighboring
can talk to a set of other neighboring
can talk to a set of other neighboring agents and the way we formulated this
agents and the way we formulated this
agents and the way we formulated this problem everyone would benefit from
problem everyone would benefit from
problem everyone would benefit from their neighbors contributions in terms
their neighbors contributions in terms
their neighbors contributions in terms of work or data if the neighbors for
of work or data if the neighbors for
of work or data if the neighbors for example agree to carry data for them
example agree to carry data for them
example agree to carry data for them maybe gave them some information that
maybe gave them some information that
maybe gave them some information that they needed but in fact as in many real
they needed but in fact as in many real
they needed but in fact as in many real networks there’s sort of a cost to
networks there’s sort of a cost to
networks there’s sort of a cost to contributing yourself it doesn’t
contributing yourself it doesn’t
contributing yourself it doesn’t actually benefit you because you might
actually benefit you because you might
actually benefit you because you might be using up time or energy or resources
be using up time or energy or resources
be using up time or energy or resources or in some cases even privacy if the
or in some cases even privacy if the
or in some cases even privacy if the information that you are asked to share
information that you are asked to share
information that you are asked to share somehow belongs to some personal
somehow belongs to some personal
somehow belongs to some personal information about a user that you
information about a user that you
information about a user that you represent so we formulated this problem
represent so we formulated this problem
represent so we formulated this problem and looked at what would happen somewhat
and looked at what would happen somewhat
and looked at what would happen somewhat to our
to our
to our disappointment if you actually formulate
disappointment if you actually formulate
disappointment if you actually formulate such a problem where everyone benefits
such a problem where everyone benefits
such a problem where everyone benefits from the neighbors but they don’t want
from the neighbors but they don’t want
from the neighbors but they don’t want to contribute the result is sort of this
to contribute the result is sort of this
to contribute the result is sort of this amazingly lazy Society of autonomous
amazingly lazy Society of autonomous
amazingly lazy Society of autonomous devices they’re all like well it’d be
devices they’re all like well it’d be
devices they’re all like well it’d be nice if someone helped me but they sort
nice if someone helped me but they sort
nice if someone helped me but they sort of sitting in their chairs they’re not
of sitting in their chairs they’re not
of sitting in their chairs they’re not willing to lift a finger so what do you
willing to lift a finger so what do you
willing to lift a finger so what do you do so we found that the solution you
do so we found that the solution you
do so we found that the solution you have to engineer to get them to be more
have to engineer to get them to be more
have to engineer to get them to be more active more proactive more helpful was
active more proactive more helpful was
active more proactive more helpful was actually a moral principle a reciprocity
actually a moral principle a reciprocity
actually a moral principle a reciprocity rule something that said listen if you
rule something that said listen if you
rule something that said listen if you contribute something to your neighbors
contribute something to your neighbors
contribute something to your neighbors you can get something back from them
you can get something back from them
you can get something back from them right this is very related to the golden
right this is very related to the golden
right this is very related to the golden rule do unto others as you would have
rule do unto others as you would have
rule do unto others as you would have them do unto you just implemented in
them do unto you just implemented in
them do unto you just implemented in software so what happens now an
software so what happens now an
software so what happens now an amazingly unique set of results where
amazingly unique set of results where
amazingly unique set of results where all of these nodes suddenly just wake up
all of these nodes suddenly just wake up
all of these nodes suddenly just wake up and chatter excitedly with each other
and chatter excitedly with each other
and chatter excitedly with each other like what can I do for you buddy and
like what can I do for you buddy and
like what can I do for you buddy and like oh I’d love to help you tell me
like oh I’d love to help you tell me
like oh I’d love to help you tell me more and just this engineering of
more and just this engineering of
more and just this engineering of reciprocity into their interactions
reciprocity into their interactions
reciprocity into their interactions makes it a much more productive society
makes it a much more productive society
makes it a much more productive society and we can build networks now where
and we can build networks now where
and we can build networks now where nodes are behaving in their
nodes are behaving in their
nodes are behaving in their self-interest but because of this moral
self-interest but because of this moral
self-interest but because of this moral principle embedded in their software
principle embedded in their software
principle embedded in their software they will exchange information data and
they will exchange information data and
they will exchange information data and help each other out and behave in a way
help each other out and behave in a way
help each other out and behave in a way that we as network designers as
that we as network designers as
that we as network designers as engineers would like the network to
engineers would like the network to
engineers would like the network to behave to give you another example in
behave to give you another example in
behave to give you another example in recent years we’ve been looking at
recent years we’ve been looking at
recent years we’ve been looking at autonomous agents that would be pieces
autonomous agents that would be pieces
autonomous agents that would be pieces of software that drive our cars for us
of software that drive our cars for us
of software that drive our cars for us and this is going to happen in the near
and this is going to happen in the near
and this is going to happen in the near future we’ve all been following the news
future we’ve all been following the news
future we’ve all been following the news and not only will each car be able to
and not only will each car be able to
and not only will each car be able to drive itself autonomously it’s also
drive itself autonomously it’s also
drive itself autonomously it’s also going to be able to interact with other
going to be able to interact with other
going to be able to interact with other cars on the road and with other devices
cars on the road and with other devices
cars on the road and with other devices nearby in the infrastructure and so you
nearby in the infrastructure and so you
nearby in the infrastructure and so you can ask the same questions if they’re
can ask the same questions if they’re
can ask the same questions if they’re going to behave in their self-interest
going to behave in their self-interest
going to behave in their self-interest would there be
would there be
would there be for them to collaborate to cooperate in
for them to collaborate to cooperate in
for them to collaborate to cooperate in ways that benefit society as a whole and
ways that benefit society as a whole and
ways that benefit society as a whole and so to give you an example of such a
so to give you an example of such a
so to give you an example of such a problem we’ve looked at a smart city of
problem we’ve looked at a smart city of
problem we’ve looked at a smart city of the future which is full of these
the future which is full of these
the future which is full of these autonomous vehicles carrying people back
autonomous vehicles carrying people back
autonomous vehicles carrying people back and forth from their home to where up to
and forth from their home to where up to
and forth from their home to where up to places after work and so on and we ask
places after work and so on and we ask
places after work and so on and we ask the question well first of all what’s in
the question well first of all what’s in
the question well first of all what’s in their self-interest and in this case for
their self-interest and in this case for
their self-interest and in this case for each vehicle the self-interest would be
each vehicle the self-interest would be
each vehicle the self-interest would be to get from point A to point B as
to get from point A to point B as
to get from point A to point B as quickly and conveniently as possible but
quickly and conveniently as possible but
quickly and conveniently as possible but from the city’s perspective the best
from the city’s perspective the best
from the city’s perspective the best interest of the society as a whole might
interest of the society as a whole might
interest of the society as a whole might be better served by some other objective
be better served by some other objective
be better served by some other objective for instance you might want to reduce
for instance you might want to reduce
for instance you might want to reduce the environmental impact of these
the environmental impact of these
the environmental impact of these autonomous vehicles you might want to
autonomous vehicles you might want to
autonomous vehicles you might want to make sure that the traffic in
make sure that the traffic in
make sure that the traffic in residential parts of the city doesn’t
residential parts of the city doesn’t
residential parts of the city doesn’t get too crowded or polluted so that
get too crowded or polluted so that
get too crowded or polluted so that you’re not seeing a lot of impact on
you’re not seeing a lot of impact on
you’re not seeing a lot of impact on people or at schools and playgrounds and
people or at schools and playgrounds and
people or at schools and playgrounds and what we did essentially was to come up
what we did essentially was to come up
what we did essentially was to come up with an algorithm that sets the traffic
with an algorithm that sets the traffic
with an algorithm that sets the traffic speed limits on all of the road
speed limits on all of the road
speed limits on all of the road stretches in the city that the
stretches in the city that the
stretches in the city that the autonomous cars are asked to follow and
autonomous cars are asked to follow and
autonomous cars are asked to follow and our algorithm carefully configures these
our algorithm carefully configures these
our algorithm carefully configures these speed limits for each of the streets in
speed limits for each of the streets in
speed limits for each of the streets in such a way that if each of the
such a way that if each of the
such a way that if each of the autonomous vehicles were just pursuing
autonomous vehicles were just pursuing
autonomous vehicles were just pursuing their self-interest they’re not
their self-interest they’re not
their self-interest they’re not necessarily caring about the good of
necessarily caring about the good of
necessarily caring about the good of society they’re just focused on getting
society they’re just focused on getting
society they’re just focused on getting their passenger from A to B in the
their passenger from A to B in the
their passenger from A to B in the shortest time possible but by
shortest time possible but by
shortest time possible but by engineering these speed limits
engineering these speed limits
engineering these speed limits throughout the city we can get them to
throughout the city we can get them to
throughout the city we can get them to drive in ways that essentially naturally
drive in ways that essentially naturally
drive in ways that essentially naturally keep them away from populated areas from
keep them away from populated areas from
keep them away from populated areas from sensitive areas so to conclude I think
sensitive areas so to conclude I think
sensitive areas so to conclude I think we’re still a long ways off but we’re
we’re still a long ways off but we’re
we’re still a long ways off but we’re really beginning to understand how to
really beginning to understand how to
really beginning to understand how to engineer cooperation morality ethics
engineer cooperation morality ethics
engineer cooperation morality ethics fairness justice all of these things we
fairness justice all of these things we
fairness justice all of these things we take for granted in our societies but to
take for granted in our societies but to
take for granted in our societies but to that world of autonomous agents that are
that world of autonomous agents that are
that world of autonomous agents that are going to be working with us and helping
going to be working with us and helping
going to be working with us and helping us thank you
us thank you
us thank you you
”
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