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16th International Summer School in Cognitive Science, New Bulgarian University, Sofia, Bulgaria, 2009
Computational Models that Exploit
the Embodiment of Cognition
Michael J. Spivey
Department of Cognitive Science
University of California, Merced
Bacsjy; Ballard et al., 1997
Brooks, 1991; Steels, 2003
Tensegrity robot guy at cornell
howell jankowicz & becker
Scheutz et al.
Yu ballard aslin
Roy, 2005
OUTLINE
• Embodied Artificial Intelligence
• Embodied Simulations of Human Cognition
• Embodied and Embedded Cognition:
Spreading out your mind to include the world
Internalistic Approaches to Computer Vision & AI
Stimulus Features
SHRDLU (Winograd, 1970)
Internalistic Approaches to Computer Vision & AI
(Marr, 1982)
Primal Sketch
After Decades of “Internalist” Computer Vision & AI
Ruzena Bajcsy (1984)
"Active Touch and Robot Perception"
(see also Braitenberg, 1984)
Agre & Chapman (1987)
“Pengi: An Implementation of a Theory of Activity”
Pengi
(Agre & Chapman, 1987)
AI has generally interpreted the organized nature of everyday activity
in terms of plan-following. Nobody could doubt that people often
make and follow plans. But the complexity, uncertainty, and
immediacy of the real world require a central role for
moment-to-moment improvisation. Before and beneath any
planning ahead, one continually decides what to do now.
Investigation of the dynamics of everyday routine activity reveals
important regularities in the interaction of very simple machinery
with its environment. We have used our dynamic theories to design
a program, called Pengi, that engages in complex, apparently-planful
activity without requiring explicit models of the world.
Pengi
(Agre & Chapman, 1987)
Pengi uses “indexical-functional aspects”
(Agre & Chapman, 1987)
Ballard, Hayhoe, Pook, & Rao (1997)
“Deictic codes for the embodiment of cognition”
Model
Workspace
Source
Ballard, Hayhoe, Pook, & Rao (1997)
Hypothetical Data
(if Working Memory was maxed out)
Relative Frequency
0.6
0.4
0.2
0.0
M-P-M-D
P-M-D
M-P-D
P-D
Eye Trace Classification
Other
Ballard, Hayhoe, Pook, & Rao (1997)
Model
Workspace
Source
Ballard, Hayhoe, Pook, & Rao (1997)
Model
Workspace
Source
Ballard, Hayhoe, Pook, & Rao (1997)
Relative Frequency
0.5
Actual Data
(Working Memory IS NOT maxed out)
0.4
0.3
0.2
0.1
0.0
M-P-M-D
P-M-D
M-P-D
P-D
Eye Trace Classification
Other
Internalistic Approaches to Computer Vision & AI
Stimulus Features
Kirsh & Maglio (1994)
Kirsh & Maglio (1994)
Kirsh & Maglio (1994)
Kirsh & Maglio (1994)
Chapman & Agre (1987)
“Abstract Reasoning as Emergent from Concrete Activity”
Rodney Brooks (1991)
“Intelligence Without Representation”
Rodney Brooks’ Robots
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Rodney Brooks’ Robots
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Rodney Brooks’ Robots
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Brooks & Breazeal
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Brooks & Breazeal
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Deb Roy’s Robots
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Deb Roy’s Robots
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OUTLINE
• Embodied Artificial Intelligence
• Embodied Simulations of Human Cognition
• Embodied and Embedded Cognition:
Spreading out your mind to include the world
Scheutz, Eberhard, & Andronache (2005)
Scheutz, Eberhard, & Andronache (2005)
Scheutz, Eberhard, & Andronache (2005)
Mayberry, Crocker, & Knoeferle (2009)
Mayberry, Crocker, & Knoeferle (2009)
Howell, Jankowicz, & Becker (2005)
Kaup, Lüdtke, & Zwaan (2006)
Anderson, Huette, Matlock & Spivey (2009)
Anderson, Huette, Matlock & Spivey (2009)
OUTLINE
• Embodied Artificial Intelligence
• Embodied Simulations of Human Cognition
• Embodied and Embedded Cognition:
Spreading out your mind to include the world
Spatially extending one’s definition of thought
(e.g., Clark & Chalmers; O’Regan & Nöe)
Temporally extending
one’s definition of thought
The Continuity of Mind
“Nothing is, everything is becoming.”
-Heraclitus
1
0.5
0
y-space
x-space
1
0.5
0
y-space
x-space
“shared manifold of intersubjectivity”
-Gallese
The Continuity of Minds