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Embodied cognition
- 1. Embodied Cognition Pol Ricart Anna Sharkova XavierGabarró Dimitar Karageorgiev
- 2. Embodied Cognition Evolutionary Roots Bodiescame first Proto-mind: Movement coordination Cognition emerged to serve the body Neocortex -> Limbic System -> Body.
- 3. Embodied Cognition Cognition emerged fromthe body. To co-ordinate the body, with a set of structures: Motor ControlSensory Processing The activity of the mind is grounded in mechanisms that evolved for interaction with the environment – that is, mechanisms of sensory processing and motor control.
- 4. Cognition 1. Cognition isSituated 2. Cognition is Sensory Processing 1. Cognition is situated 2. Cognition is time-pressured 3. We off-load cognitive work onto the environment 4. The environment is part of the cognitive system 5. Cognition is for action 6. Off-line cognition is body-based
- 5. Embodied Consciousness Dualism Enactivism Consciousness isnot the representation of an existing world. It is the creation of an imaginary world, as a result of mutual interaction between the sensorimotor capacities of the organism, its environment, and the history of the variety of actions that a being in the world performs.
- 6. Valentino Braitenberg ● 18June 1926 – 9 September 2011; ● neuroscientist and cyberneticist; ● former director at the Max Planck Institute for Biological Cybernetics in Tübingen, Germany; ● most famous book “Vehicles: Experiments in Synthetic Psychology”, 1984
- 7. Valentino Braitenberg -Vehicles “What is cybernetics, what are its elements?” - Prof. Paul Pangaro We can think of it as navigation; Food for thought: “all intelligent systems have this property”
- 8. Valentino Braitenberg -Vehicles Influenced by his background in cybernetics - a transdisciplinary approach for exploring regulatory systems—their structures, constraints, and possibilities. For him, certain structures within animal brains seem interpretable as pieces of computing machinery because of their simplicity or regularity. Talks about machines with very simple internal structures and uses psychological language in describing their behavior.
- 9. Valentino Braitenberg -Vehicles
- 10. Valentino Braitenberg -Vehicles
- 11. Valentino Braitenberg -Vehicles The structure of the “network” or system affects directly the resultant behaviour. The body can be represented as a cybernetic system composed by sensors & actuators interconnected in multiple ways bringing as a result a simple or complex physical base and resulting behavior. Throwback: “all intelligent systems have this property” - what about the systems/vehicles of Braitenberg? Does behavior indicate knowledge or intelligence? Could cognition actually arise from the properties of the body?
- 12. Jakob von Uexküll- Umwelt (1934)
- 13. Jakob von Uexküll- Umwelt (1934)
- 14. Jakob von Uexküll- Umwelt (1934)
- 17. Jakob von Uexküll- Umwelt (1934)
- 18. Jakob von Uexküll- Umwelt (1934)
- 19. Jakob von Uexküll- Umwelt (1934) perceptual tools = sensors effector tools = motors Perceptual world filled with perceptual meanings Effector world filled with operational meanings UMWELT Operators- interpreters
- 20. Functional circle -the effector meaning extinguishes the receptor meaning
- 21. Functional tone- thenumber of objects which an animal can distinguish in its own world equals the number of functions it can carry out
- 22. Functional tone- thenumber of objects which an animal can distinguish in its own world equals the number of functions it can carry out
- 23. Functional tone -the number of objects which an animal can distinguish in its own world equals the number of functions it can carry out
- 24. Functional tone -Myth of the Invisible Ships
- 25. Functional tone -The familiar path
- 26. Umwelt - weall live in different times and spaces ● Operational space ● Tactile space ● Visual space ● The farthest plane Time Space
- 27. Umwelt The Umwelt theorystates that the mind and the world are inseparable, because it is the mind that interprets the world for the organism Consequently, the Umwelten of different organisms differ, which follows from the individuality and uniqueness of the history and biology of every single organism
- 28.
- 29. Why out ofall possible stimuli animals react only to a part of them? Why animals act as they act? Is their behavior goal-oriented?
- 30.
- 31. Braitenberg’s answer The structureof the “network” or system affects directly the resultant behaviour.
- 32. Uexküll’s answer There isa plan of nature
- 33. Homo optimus: modernideas about Umwelt We can can play with our system and feed our brain whatever we want)
- 34. functional information processingmodules Symbol System Hypothesis individual behavior generating modules Physical Grounding Hypothesis
- 35. functional information processingmodules it is necessary to combine together many of the modules to get any behavior Symbol System Hypothesis ● Perception & Motors seen as Set of symbols. ● The central system operates over both interfaces. ● Their meanings are unimportant to the reasoner ● coherence emerges when CS knows the groundings of the symbols within his or her own experience. ● Symbols represents entities in the world. individual behavior generating modules coexistence and co-operation let more complex behaviors emerge. Physical Grounding Hypothesis ● Each module generates a certain behavior ● necessary to connect it to the world ● express all its goals and desires as physical action. ● extract all its knowledge from physical sensors. ● make everything explicit.
- 36. Symbol System Hypothesis Inadequacyof Simple Symbols ● assume a knowable objective truth ● computations based on these formal systems becomes more and more biologically implausible. ● objectiveness come by adding more complexity turns implausibly. ● frame problem → it is impossible to assume anything that is not explicitly stated
- 38. the frame problemof Physical grounding Paradigm -> impossible to represent each interface in the world. ( NP problem) P vs NP P → polynomial time solving NP → non deterministic ( no way to solve it ) time exponential ( easy to check) NP -complete → both P & NP Problem ,assumes that solving NP-C, means that any NP can be solved!
- 39. Premises: ● Animal Systems→ ability to move around in a dynamic environment, sensing the surroundings to a degree sufficient to achieve the necessary maintenance of life and reproduction. The Subsumption Architecture: ● computational architecture that enables us to tightly connect perception to action, embedding robots concretely in the world. ● built on → computation al substrate that is organized into a series of incremental layers →behavior compiler. ● networks of finite state machines augmented ( AFSM) with timing elements. ● The behavior compiler is machine-independent and compiles into an intermediate file of subsumption AFSM specifications. Physical Grounding Hypothesis
- 40. ● Which onedo you think is a more realistic hypothesis ? Physical Grounding vs Symbol System
- 41. Verschure (2003) Perception andbehaviour are usually considered separate processes ● Percepual Learning: Constructs compact representation of sensory events, reflecting the statistical properties independently of behavioural relevance. ● Behavioural Learning: Forms associations between perception and action, organized through reinforcement. EXAMPLES By using mobile robots, he demonstrated that perception and behaviour can interact synergistically via the environment, through perceptual learning directly supporting behavioural learning.
- 42. Mind-Body Relationship Our moodsand thoughts influence our bodies? When I hear something funny, I smile. _____________________________________________________________ Our bodies influence our moods and thoughts? When I smile, that ‘something’ becomes funny.
- 43. Mind-Body Relationship Our moodsand thoughts influence our bodies? When I hear something funny, I smile. _____________________________________________________________ Our bodies influence our moods and thoughts? When I smile, that ‘something’ becomes funny.
- 44. Our moods andthoughts influence our bodies I’m feeling…. HIGH LOW ● Ten feet tall ● Over the moon ● Nothing can bring me down ● On top of the world ● Down in the dumps ● Feeling down
- 45. Our bodies influenceour moods and thoughts
- 46. To build aHuman-like Brain, you need a Human- like Body
- 47. Building Non-Embodied Cognition FromNatural Selection to the Homo Sapiens Artificial Minds... Has the Turing Test been passed?
- 48. Building Non-Embodied Cognition FromNatural Selection to the Homo Sapiens Artificial Minds... … need artificial Bodies https://www.youtube.com/watch?v=26fLK9m4eNE&feature=youtu.be
- 49. Building Embodied Cognition Dr.Masai Moro’s Uncanny Valley, or the Physical Turing Test
- 50. Building Embodied Cognition Dr.Masai Moro’s Uncanny Valley, or the Physical Turing Test
- 51. Building Embodied Cognition Dr.Masai Moro’s Uncanny Valley, or the Physical Turing Test
- 52. Biology works withembodied cognition ● Embodied Humans & Non-Embodied Robots ● Embodied Humans & Embodied Robots ● Non-Embodied Humans & Non-Embodied Robots ● Non-Embodied Humans & Embodied Robots
- 53. The software controls/regulatesthe hardware, but it can’t exist without the hardware. Probably, the hardware always comes first.
- 54. The software isthere to control the hardware, but it only exists because the hardware exists. Probably, the hardware always comes first. The Cosmos evolves as a set of information patterns EPOCH 1: Information encoded in atomic structures. ● Software: The laws of Physics. Atomic structure. ● Hardware: Atoms & Molecules. EPOCH 2: Information encoded in DNA. ● Software: Genotype. Genes, base pairs. ● Hardware: Proteins. EPOCH 3: Information encoded in neural patters. ● Software: Minds (Brains alive, interacting). ● Hardware: Bodies (perception + motor control). EPOCH 4: Information encoded in technology. ● Software: Software, code. ● Hardware: Hardware innovation (ex: Robot). EPOCH 5: Merger of biology and technology. ● Software: Brains + AI. ● Hardware: Bodies (Biological? Robotic?).
Editor's Notes
- #2 https://www.youtube.com/watch?v=NDw_1UyNTKI
- #13 So let’s go back to humans. We know that we and everything consists of very little micro parts and at the same time we are embedded into the vary large comos. But let’s admit we are not very good at understanding this reality and these scales. We are trapped in this very thin slice of perception in the middle. But even there we do not perceive most of the action that is going on.
- #14 Take the colors of our world. There are lightwaves (electromagnetic radiation) that bounces off different objects and hit specialised reseptors at the back of our eyes. But we do not see all the waves out there - in fact what we see is less than 10 trillionth of what is out there.
- #15 There are radiowaves, microwaves, X-rays and gamma rays passing through your body right now. There 1000s of cell phones calls going through you. And you are completely unaware of it (if you do not have any super powers and not insane). Why? Because you do not have sensors aka biological receptors to pick all this staff up. But these things are not inherently unseeble: Snakes include infrared into their reality Honeybees include ultraviolet in their view of the world
- #16 So seems like human’s experience of reality is constrained by our biology. So we cannot assume that our eyes, ears, hands etc give us perception of the objective reality that is out there. In fact our brain is sampling just a little bit of the world.
- #17 The flash-lag effect. When a visual stimulus moves along a continuous trajectory, it may be seen ahead of its veridical position with respect to an unpredictable event such as a punctuate flash.
- #18 Seems like differents animals capture different parts of reality: A blind tick senses almost only temperature and butyric acid. In the world of black ghost knifefish (cool name) the whole world is colored by electrical fields For a echolocating bat the reality is constructed of air comprassion waves
- #19 There is the word for each slice of reality of each animal. Umwelt - the surrounding world, or self-centered world.. Coined Uexküll in 1934! He imagined it more like some kind of a bubble, this term is not forgotten, Today such guys like David Eagleman use Umwelt in their pitches to investors and ted-talks and then found companies in Silicon valley) Presunably each animal assumes that thier Umwelt is an entire objective reality out there.
- #20 Ok, so Umwelt is a certain slice of the world: every living creature chooses from the whole variety of colors, sounds, tactile sensations and smells of the world only those stimuli that it can sense and that serve its needs for survival and success. perceptual world - everything you can sense, generates perceptual meanings or objects of the world operational world - everything you can effect, use - generates operational meanings for objects of the world Each functional component (object) of an umwelt has a meaning and so represents the organism's model of the world. The Umwelt (the model) is not static. An organism creates and reshapes its own umwelt when it interacts with the world. This is termed a 'functional circle'.
- #21 I had taken a young, very intelligent and agile Negro with me from the heart of Africa to Dar-es-Salaam. The only thing which he lacked was a knowledge of European tools. When I bid him climb a short ladder, he asked me: 'How am I to do that, I see nothing but rods and holes?' As soon as another Negro had shown him how to climb the ladder, he could do it easily. From then on, the perceptually given 'rods and holes' held a climbing tone for him, and he recognized them everywhere as a ladder. The receptor image of rods and holes had been supplemented by the effector image of his own action; through this it had acquired a new meaning. The new meaning manifested itself as a new attribute, as a functional or effector tone. And now let us set into the schema of the functional cycle, the tick as subject, and the mammal as her object. It shows at a glance that three functional cycles follow each other in well-planned succession. The skin glands of the mammal are the bearers of perceptual meaning in the first cycle, since the stimulus of butyric acid releases specific receptor signs in the tick's receptor organ, and these receptor signs are projected outside as an olfactory cue. By induction (the nature of which we do not know) the processes that take place in the receptor organ initiate corresponding impulses in the effector organ, and these impulses induce the tick to let go with her legs and drop. The tick, falling on the hairs of the mammal, projects the effector cue of shock onto them. This in turn releases a tactile cue, which extinguishes the olfactory stimulus of the butyric acid. The new receptor cue elicits running about, until it in turn is replaced by the sensation of heat, which starts the boring response.
- #22 In the world of man, the functional tones of the objects in a room can be represented by a sitting tone for a chair, a meal tone for the table, and by further adequate effector tones for plates and glasses (eating and drinking tone).
- #23 If we represent the recurrent similar functional tones by identical colors in the dog's world, only feeding, sitting, running, and light tones are left. Everything else displays an obstacle tone. .
- #24 Finally, for the fly, everything assumes a single running tone, except for the lamp whose significance has already been pointed out, and the crockery on the table
- #25 Have you heard of the invisible ships phenomenon? It goes like this: When Captain Cook/Columbus/Magellan (depending on the version of the story you're hearing) arrived at the coast of Australia/Cuba/South America, the native people completely ignored them, presumably because huge ships were so alien to their experience that "... their highly filtered perceptions couldn't register what was happening, and they literally failed to 'see' the ships." (Quoting here from JZ Knight's What the Bleep Do We Know?)
- #26 The best way to find that no two human Umwelten are the same is to have yourself led through unknown territory by someone familiar with it. Your guide unerringly follows a path that you cannot see. Among all the rocks and trees in the environment there are some which, strung together in sequence, stand out as landmarks from all the others, although they are not apparent to a stranger The familiar path is entirely dependent on the individual subject. It is therefore a typical Umwelt problem.
- #27 This gives rise to the widespread conviction that there is only one space and one time for all living things. Our time is made up of a series of moments, or briefest time units, within which the world shows no change. For the duration of a moment, the world stands still. Man's moment last 1/18 of a second (50 or 60 Hz), a pegeon’ s - 100 Hz Instead of saying, as heretofore, that without time, there can be no living subject, we shall now have to say that without a living subject, there can be no time.
- #28 So what it might mean for us?
- #30 Wiener, a mathematician, coined the term 'cybernetics' to denote the study of "teleological mechanisms."
- #31 Matter: a change or movement's material cause, is the aspect of the change or movement which is determined by the material that composes the moving or changing things. For a table, that might be wood; for a statue, that might be bronze or marble. Form: a change or movement's formal cause, is a change or movement caused by the arrangement, shape or appearance of the thing changing or moving. Aristotle says for example that the ratio 2:1, and number in general, is the cause of the octave. Agent: a change or movement's efficient or moving cause, consists of things apart from the thing being changed or moved, which interact so as to be an agency of the change or movement. For example, the efficient cause of a table is a carpenter, or a person working as one, and according to Aristotle the efficient cause of a boy is a father. End or purpose: a change or movement's final cause, is that for the sake of which a thing is what it is. For a seed, it might be an adult plant. For a sailboat, it might be sailing. For a ball at the top of a ramp, it might be coming to rest at the bottom.
- #33 an acorn's intrinsic telos is to become a fully grown oak tree
- #38 https://giphy.com/gifs/wrongdigital-3d2wgrPNcBqocFzFbJ
- #54 Function is befined by structure? The software is there to control the hardware, but it only exists because the hardware exists. Probably, the hardware always comes first. The Cosmos evolves as a set of information patterns EPOCH 1: Information encoded in atomic structures. Software: The laws of Physics. Hardware: Atoms & Molecules. EPOCH 2: Information encoded in DNA. Software: Genotype. Genes, base pairs. Hardware: Proteins. EPOCH 3: Information encoded in neural patters. Software: Minds (Brains alive, interacting). Hardware: Bodies (perception + motor control). EPOCH 4: Information encoded in technology. Software: Software, code. Hardware: Hardware innovation (ex: Robot). EPOCH 5: Merger of biology and technology. Software: Brains + AI. Hardware: Bodies (Biological? Robotic?).