Computational Models that Exploitthe Embodiment of Cognition

Michael J. SpiveyDepartment of Cognitive ScienceUniversity of California, Merced

16th International Summer School in Cognitive Science, New Bulgarian University, Sofia, Bulgaria, 2009

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

• Embodied Artificial Intelligence

• Embodied Simulations of Human Cognition

• Embodied and Embedded Cognition: Spreading out your mind to include the world

OUTLINE

Internalistic Approaches to Computer Vision & AI

External W

orld

Behavior

Stim

ulus Features

Obje cts /C

oncepts

Interna lized World

SHRDLU (Winograd, 1970)

Internalistic Approaches to Computer Vision & AI

External W

orld

Behavior

Prim

al Sketch

2 1/2 -D S

ke tc h

3D M

ode l

(Marr, 1982)

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”

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 revealsimportant 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(Agre & Chapman, 1987)

Pengi uses “indexical-functional aspects”(Agre & Chapman, 1987)

Ballard, Hayhoe, Pook, & Rao (1997)“Deictic codes for the embodiment of cognition”

Model

SourceWorkspace

Ballard, Hayhoe, Pook, & Rao (1997)

M-P-M-D P-M-D M-P-D P-D Other0.0

0.2

0.4

0.6

Hypothetical Data(if Working Memory was maxed out)

Eye Trace Classification

Relative Frequency

Ballard, Hayhoe, Pook, & Rao (1997)

Model

SourceWorkspace

Model

SourceWorkspace

Ballard, Hayhoe, Pook, & Rao (1997)

Ballard, Hayhoe, Pook, & Rao (1997)

M-P-M-D P-M-D M-P-D P-D Other0.0

0.1

0.2

0.3

0.4

0.5 Actual Data(Working Memory IS NOT maxed out)

Eye Trace Classification

Relative Frequency

Internalistic Approaches to Computer Vision & AI

External W

orld

Behavior

Stim

ulus Features

Obje cts /C

oncepts

Interna lized World

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”

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Rodney Brooks’ Robots

Rodney Brooks’ Robots

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Rodney Brooks’ Robots

Brooks & Breazeal

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Brooks & Breazeal

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Deb Roy’s Robots

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Deb Roy’s Robots

• Embodied Artificial Intelligence

• Embodied Simulations of Human Cognition

• Embodied and Embedded Cognition: Spreading out your mind to include the world

OUTLINE

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)

• Embodied Artificial Intelligence

• Embodied Simulations of Human Cognition

• Embodied and Embedded Cognition: Spreading out your mind to include the world

OUTLINE

Spatially extending one’s definition of thought (e.g., Clark & Chalmers; O’Regan & Nöe)

Temporally extending one’s definition of thought

“Nothing is, everything is becoming.” -Heraclitus

The Continuity of Mind

0

0.5

1

x-space

y-space

0

0.5

1

x-space

y-space

“shared manifold of intersubjectivity” -Gallese

The Continuity of Minds