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Intro to CogSci: Embodiment 1
1. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Cognitive science paradigms: Embodiment
Kristína Rebrová
Kristína Rebrová Cognitive science paradigms: Embodiment
2. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Contents
1 Symbolism & connectionism vs. Embodiment
2 Intelligence in action
3 Embodied congition
4 Cognition and Environment
5 Intelligence without representation
Kristína Rebrová Cognitive science paradigms: Embodiment
3. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Physical symbol system hypothesis
(Newell & Simon, 1976)
Physical symbol system is a necessary and sufficient condition
for general intelligent action.
Physical symbol system is a machine that produces through
time an evolving collection of physical patterns called symbol
structures.
Arbitrary links from symbolic code to sensori-motor referents
Intelligence occurs via reasoning (searching for operators;
logical inference)
Intelligence = computation - separate from sensors and
effectors
Intelligence in nature (animals might behave intelligently, but
not think so much as humans)
Kristína Rebrová Cognitive science paradigms: Embodiment
4. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
(more) Traditional approaches
Symbolism
thought is a manipulation of abstract symbol
implies process of designing, and an external interpreter
Connectionism
knowledge is encoded in weights and structure of the network
implies learning, but what is learned also has to be interpreted
Problems
frame problem
symbol grounding problem
Kristína Rebrová Cognitive science paradigms: Embodiment
5. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Embodiment
having a physical body
what does it mean for the
agent’s cognition?
what does it mean for a
cognitive scientist?
PSSH type approaches
emphasize thinking... what
about intelligence based on
acting?
Kristína Rebrová Cognitive science paradigms: Embodiment
6. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
William Grey Walter
neurophysiologist and robotician (February 19, 1910 – May 6, 1977)
Machina speculatrix (1948-49) robots Elmer and Elsie, tortoises
capable of phototaxis, by which they could find their way to a
recharging station when they ran low on battery power
the turtle’s complex physical behavior rests on:
simple circuit of two sensors, two vacuum tube "neurons" and
some RC components and two relays
recursive mechanical feedback loop between the turtle motors,
the physical environment (light and obstacles) and the circuit
analog processes to simulate brain processes
(Turing, Von Neuman: digital processes)
http://www.youtube.com/watch?v=lLULRlmXkKo
Kristína Rebrová Cognitive science paradigms: Embodiment
7. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Braitenberg vehicles (1984)
sensors – light detectors + actuators –
wheels
behavior depends on connections between
sensors and wheels
strive to achieve certain situations and
avoid others
change the course when the situation
changes
exhibit a complex and dynamic behavior
dependent on their “bodies”
http://www.youtube.com/watch?v=NJo5HEdq6y0
Kristína Rebrová Cognitive science paradigms: Embodiment
8. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Intelligence by Mechanics
Passive Walkers
McGeer (1990)
http://www.youtube.com/watch?v=CK8IFEGmiKY
http://www.youtube.com/watch?v=N64KOQkbyiI
Theo Jansen - Kinetic Sculptor
http://www.youtube.com/watch?v=WcR7U2tuNoY
http://www.youtube.com/watch?v=WI90TgmjX4U
Kristína Rebrová Cognitive science paradigms: Embodiment
9. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Intelligence by Material
Example: Octopus Project
http://www.youtube.com/watch?v=TW3XMPi_wng
Kristína Rebrová Cognitive science paradigms: Embodiment
10. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Embodied cognition
an agent’s embodiment and situatedness is constitutive of its
perceiving, knowing and doing
Groundedness: cognition grounded (anchored) in the physical
world = embodied + embedded
embodied: agent has a body that provides direct sensations
and allows actions
embedded: situated in an environment that provides concrete
experience
both body and environment constitute, enhance, but also limit
agent’s intelligence
Situatedness: agent acquires knowledge about its environment
only through sensors and in interaction with the world
Kristína Rebrová Cognitive science paradigms: Embodiment
11. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Complete autonomous agents
Pfeifer & Scheier, 1999
“Fungus eaters” (Toda, 1982)
able to survive in complex
environment
Complete
behaving autonomously
Situated
view the world from their
perspective
Embodied
physical agents, sensors, actuators
Self-sufficient
gather food, make energy
able to sustain itself over extended periods of timeKristína Rebrová Cognitive science paradigms: Embodiment
12. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Complete autonomous agents
Autonomy
No control from the outside (from the designer)
Increased by: self-sufficiency, situatedness, learning or
development, and evolution
Action selection problem
behavior control & design
observer based segmentation of behavior
no straightforward mapping of desired behaviors to internal
actions
Kristína Rebrová Cognitive science paradigms: Embodiment
13. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Adaptation
Evolutionary
peppered moth
Physiological
adaptation to changes in
temperature
Sensory
changes in the diameter
of the pupil
By learning
Kristína Rebrová Cognitive science paradigms: Embodiment
14. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Frame-of-reference problem
from Pfeifer and Scheier (1999)
Perspective: observer vs. agent
Behavior-vs-mechanism: behavior cannot be explained on the
basis of internal mechanisms only
Complexity: the complexity we observe != complexity of the
underlying mechanisms
Kristína Rebrová Cognitive science paradigms: Embodiment
15. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Ecological niche
The range of each environmental variable such as temperature,
humidity, and food items, within which a species can exist
andreproduce (Wilson, 1975)
Environment must be characterized with respect to agent’s
complexity
But also complexity of the environment is a prerequisite for the
complexity of an agent’s behavior
Kristína Rebrová Cognitive science paradigms: Embodiment
16. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Umwelt (1984)
self-centered world
Biology should study organisms not as objects, but as active
subjects.
Organisms can have different Umwelten, even though they
share the same environment
Umwelt = subjective world of an organism
individual organism is always actively creating it’s individual
Umwelt.
is formed by perceptual and effector worlds together
this creative process is related to meanings determined by the
animal’s internal states, needs, design, etc.
Kristína Rebrová Cognitive science paradigms: Embodiment
17. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Umwelt of a tick
Tick has 3 successive reflexes:
Butyric acid as perceptual cue – tic let go and drops
Tactile cue of hair – move around
Skin’s heat – suck
Kristína Rebrová Cognitive science paradigms: Embodiment
18. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Different visual Umwelten
(Uexküll, Brock 1927)
Kristína Rebrová Cognitive science paradigms: Embodiment
19. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Wirkwelten (effect worlds) of a human, a dog and a fly
(Uexküll, Kriszat 1934: 56–58)
Kristína Rebrová Cognitive science paradigms: Embodiment
20. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Intelligence without representation (Brooks, 1987)
Competences – layers
added incrementally
Situated & embodied
the world is its own best model
no abstract representation needed
Inspiration from evolution
. . . “mobility, acute vision and the ability to carry out
survivalent tasks in dynamic environment provide a necessary
basis for development of true intelligence.”
Kristína Rebrová Cognitive science paradigms: Embodiment
21. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Brooks’ creatures
Engineering methodology
Creatures
cope appropriately and timely with changes in environment
are robust
maintain multiple goals
do something, have purpose in being
Decomposition by activity (pattern of interactions with the
world)
Tested in the real world
Kristína Rebrová Cognitive science paradigms: Embodiment
22. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Levels of activity
Run in parallel unaware of any other higher levels and compete
Extract only relevant aspects of the world
Low-level activities
reactions to dangerous/important changes in environment
up-to-date idea about the world
Kristína Rebrová Cognitive science paradigms: Embodiment
23. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Subsumption architecture
Suppression
New layer is connected to the input of the existing layer and
suppresses new (incoming) messages
Inhibition
New layer is connected to output and inhibits outgoing
messages on the existing layer
Higher levels send information to lower levels
Levels are built incrementally and tested at each step
Modular architecture (brain modalities similarity)
Kristína Rebrová Cognitive science paradigms: Embodiment
24. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Problems of SA
How many layers can be built?
How complex behaviors can be made without central
processing unit?
Can higher-level functions (e.g. learning) occur in fixed
topology networks of simple finite state machines?
Kristína Rebrová Cognitive science paradigms: Embodiment
25. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Representing the Body
Example: Starfish Self Modeling Robot
http://www.youtube.com/watch?v=ehno85yI-sA
http://www.youtube.com/watch?v=msw267lisow
Kristína Rebrová Cognitive science paradigms: Embodiment
26. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Forward and Iverse model
cognition is about anticipation and planning
Wolpert and Kawato (1998), Wolpert et al. (2003)
forward: to generate predictions about the next state of the
world
inverse: reversely activating actions that could possibly lead to
the observed situation
work together
Kristína Rebrová Cognitive science paradigms: Embodiment
27. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
The end
Thank you for your attention
kristina.rebrova@gmail.com
Kristína Rebrová Cognitive science paradigms: Embodiment
28. Symbolism & connectionism vs. Embodiment
Intelligence in action
Embodied congition
Cognition and Environment
Intelligence without representation
Lets have fun...
army robot Big Dog:
http://www.youtube.com/watch?v=W1czBcnX1Ww
buggy beta version:
http://www.youtube.com/watch?v=VXJZVZFRFJc
Kristína Rebrová Cognitive science paradigms: Embodiment