Perception occurs parallel to the decision cycle. Productions fire whenever input comes in on the input link. In particular, the firings of the encoding productions does not affect reaching quiescence in elaboration. This allows serial problem solving to progress in the midst of asynchronous perceptual events. A method of selective attention has been implemented in Soar in which cognitive perception of events is modulated by this mechanism.
Robo-Soar demonstrates the application of Soar to robotic tasks. Saliency is a particular concern in robotic domains and Soar utilizes the architecture to achieve such behavior. Finally, Soar may also be applied to simulation domains where many of its capabilities -- such as planning, action, natural language understanding, problem solving and reasoning -- may be integrated and tested in a real-time domain.
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