EmbodiedIntelligence whenBRAIN,BODY,andENVIRONMENTinteract - PowerPoint PPT Presentation

child
development
 Piaget’s
assump?ons
 Assimila?on
 Accommoda?on
 Adjus?ng
exis?ng
 Adding
new
 experiences
to
deal
 experiences
to
the
 with
new
situa?ons.
 exis?ng
ones,
and
 reinforce
them.
 Dr.
Oubba?,
March
2012
 44


child
development
 Piaget’s
assump?ons
 Development
takes
place
in
dis?nct
stages
of
cogni?ve
development.
 Dr.
Oubba?,
March
2012
 45


child
development
 Piaget’s
assump?ons
 Development
takes
place
in
dis?nct
stages
of
cogni?ve
development.
 achieving
simple
goals
in
 Sensorimotor
 (~Birth to 2 yrs) a
sensorimotor
space
 Dr.
Oubba?,
March
2012
 46


child
development
 Piaget’s
assump?ons
 Development
takes
place
in
dis?nct
stages
of
cogni?ve
development.
 Represen?ng
the
world,
and
go
beyond

 Preopera?onal
 (~2 to 6 yrs) the
connec?on
of
sensorimotor
 informa?on.
 achieving
simple
goals
in
 Sensorimotor
 (~Birth to 2 yrs) a
sensorimotor
space
 Dr.
Oubba?,
March
2012
 47


child
development
 Piaget’s
assump?ons
 Development
takes
place
in
dis?nct
stages
of
cogni?ve
development.
 Concrete
Opera?onal
 (~ 7-12 yrs) reasoning
logically
about
events.
 Represen?ng
the
world,
and
go
beyond

 Preopera?onal
 (~2 to 6 yrs) the
connec?on
of
sensorimotor
 informa?on.
 achieving
simple
goals
in
 Sensorimotor
 (~Birth to 2 yrs) a
sensorimotor
space
 Dr.
Oubba?,
March
2012
 48


child
development
 Piaget’s
assump?ons
 Development
takes
place
in
dis?nct
stages
of
cogni?ve
development.
 (adolescence Formal
Opera?onal
 reasoning
in
a
more
abstract,
 to adult) idealis?c,
and
logical
way.
 Concrete
Opera?onal
 (~ 7-12 yrs) reasoning
logically
about
events.
 Represen?ng
the
world,
and
go
beyond

 Preopera?onal
 (~2 to 6 yrs) the
connec?on
of
sensorimotor
 informa?on.
 achieving
simple
goals
in
 Sensorimotor
 (~Birth to 2 yrs) a
sensorimotor
space
 Dr.
Oubba?,
March
2012
 49


child
development
 Piaget’s
assump?ons
 Piaget
did
not
emphasize 
 on
the
role
 of
social
interac?on.
 Dr.
Oubba?,
March
2012
 50


child
development
 Most
of
a
child’s
 cogni?ve
skills
evolve
 from
social
interac?ons
 Lev
Vygotsky
(1896‐1934)
 (Psychologist)
 Dr.
Oubba?,
March
2012
 51


child
development
 Most
of
a
child’s
 cogni?ve
skills
evolve
 from
social
interac?ons
 Development
occurs
within
the

 Lev
Vygotsky
(1896‐1934)
 „zone
of
proximal
development“
 (Psychologist)
 Dr.
Oubba?,
March
2012
 52


child
development
 Vygotsky’s
assump?on
 
Zone
of
Proximal
Development
 range
of
tasks
that
are
 too
complex
to
be
 mastered
alone
but
can
 be
accomplished
with
 guidance.
 Dr.
Oubba?,
March
2012
 53


child
development
 Vygotsky’s
assump?on
 
Zone
of
Proximal
Development
 Zone
of
 Child
can
 Child
cannot
 Proximal
 Development
 Learning
/
Development
 54


Dr.
Oubba?,
March
2012
 55


Formal

 Opera?onal
 Individual
capabili?es

 Concrete

 Opera?onal
 Preopera?onal
 Sensorimotor
 
 
Zone
of
Proximal
Development
 Social
engagement
 56
 Dr.
Oubba?,
March
2012


…so
how
can
we
create
a
system
 that
exhibits
autonomous
 development?
 Dr.
Oubba?,
March
2012
 57


…so
how
can
we
create
a
system
 that
exhibits
autonomous
 development?
 We
need
„ informal“
defini?ons
 for
intelligence,
 anyway…..
 Dr.
Oubba?,
March
2012
 58


…so
how
can
we
create
a
system
 that
exhibits
autonomous
 development?
 We
need
„ informal“
defini?ons
 for
intelligence,
 anyway…..
 I
will
call
them
signs
of
intelligence 
 Dr.
Oubba?,
March
2012
 59


How
to
create
autonomous
development?
 Signs
of
Intelligence
 
 (possibly
their
are
many
other)
 • Learn
(understand)
from
experience.
 • Use
reasoning
to
solve
problems.
 • Adapt
quickly
and
successfully
to
new
situa?ons.
 • Use
the
acquired
knowledge
to
manipulate
the
 environment.
 [R. J. Sternberg, editor. Handbook of Intelligence . Cambridge University Press, 2000.] [U. Neisser, et. al., Intelligence: Knowns and unknowns . American Psychologist, 51(2):77–101, 1996.] Dr.
Oubba?,
March
2012
 60


How
to
create
autonomous
development?
 Signs
of
Intelligence
 
 (possibly
their
are
many
other)
 • Learn
(understand)
from
experience.
 • Use
reasoning
to
solve
problems.
 • Adapt
quickly
and
successfully
to
new
situa?ons.
 • Use
the
acquired
knowledge
to
manipulate
the
 environment.
 Dr.
Oubba?,
March
2012
 61


How
to
create
autonomous
development?
 Signs
of
Intelligence
 
 The
most
common
idea
of
these
signs
can
be
 summarized
as
 intelligence
is
a
property
of
a
system
that
is
 interac?ng
successfully
with
a
problem,
or
 an
environment.
 Dr.
Oubba?,
March
2012
 62


How
to
create
autonomous
development?
 To
create
autonomous
development
we
have
to
 design

1)
a
developmental
learning
process,
2)
 that
interacts
with
real
environments.
 control
 Environment
 architecture

 That
can
learn
and
 That
supports
this
 develop
 development
 Dr.
Oubba?,
March
2012
 63


How
to
create
autonomous
development?
 Interac?ng
with
the
environment
requires
 a
physical
body
 Physical
 environment
 Brain 
 body
 Dr.
Oubba?,
March
2012
 64


How
to
create
autonomous
development?
 How
important
is
the
body
to
 development?
 Dr.
Oubba?,
March
2012
 65


The
role
of
the
body
 How
to
create
autonomous
development?
 The
body
facilitates
 learning
from
the
 physical
environment
 Explora?on,
 Experimenta?on,...
 iCub‐robot
(EU‐projects)
 66
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 The
body
facilitates
 learning
from
social
 environment
 Imita?on,
Learning
 from
demonstra?on,
 etc.
 Robot
 Kismet 
(MIT) 
 67
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 But
the
actual
„classic“
robo?cists
 (conven?onal
AI)
never
disputed
the
 importance
of
the
physical
body
to
their
 research.
 68
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Some
people
believe
that
 just
connec?ng
a
computer
 to
sensors
and
placing
it
on
 wheels
is
sufficient
to
create
 the
„body“
which
is
required
 for
intelligence.
 69
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Some
people
believe
that
 just
connec?ng
a
computer
 to
sensors
and
placing
it
on
 wheels
is
sufficient
to
create
 the
„body“
which
is
required
 for
intelligence.
 Intelligence
requires
a
body
which
has
to
be
able
to
 embody
cogni?ve
processes,
that
affects
and
be
 affected
by
the
environment.
 70
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Some
people
believe
that
 just
connec?ng
a
computer
 to
sensors
and
placing
it
on
 wheels
is
sufficient
to
create
 the
„body“
which
is
required
 for
intelligence.
 Intelligence
requires
a
body
which
has
to
be
able
to
 embody
cogni?ve
processes,
that
affects
and
be
 affected
by
the
environment.
 This
is
the
no?on
of
 Embodiment
 71
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Embodiment
vs.
Body
 The
fundamental
difference
lies
in
the
degree
 of
interac?on
between
the
body
and
the

 brain
(control
program).
 72
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Let’s
consider
an
embodied
agent...
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 assume
that
this
agent
is
interac?ng
 with
a
complex
environment
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Conventional AI 
seeks
an
exact
representa?on
of
the
 external
world
in
order
to
achieve
the
desired
task.
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Conventional AI 
seeks
an
exact
representa?on
of
the
 external
world
in
order
to
achieve
the
desired
task.
 The
Body
here
 is
used
just
as
 an
observer...
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Conventional AI 
seeks
an
exact
representa?on
of
the
 external
world
in
order
to
achieve
the
desired
task.
 The
Body
here
 is
used
just
as
 an
observer...
 However,
the
external
world
is
too
complex,
and
 requires
not
just
con?nual
observa?on,
but
also
 reasoning
and
adapta?on.
 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Conventional AI 
seeks
an
exact
representa?on
of
the
 external
world
in
order
to
achieve
the
desired
task.
 The
Body
here
 is
used
just
as
 an
observer...
 Furthermore,
Knowledge
(about
the
environment)
 is
not
everything.

 Dr.
Oubba?,
March
2012


The
role
of
the
body
 How
to
create
autonomous
development?
 Only
by
learning
from
interac?on
the
agent
will

 be
able
to
understand
the
environment,
and
use
 this
knowlege
to
achieve
its
goals.
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 How
to
design
a
developmental
 learning
process
?
 Dr.
Oubba?,
March
2012
 80


How
to
create
autonomous
development?
 Developmental
Architecture
 Dr.
Oubba?,
March
2012
 81


How
to
create
autonomous
development?
 Developmental
Architecture
 Even
simple
creatures
discover
new
strategies
 and
techniques
to
get
survival
resources,
or
to
 fight
predators.
 Dr.
Oubba?,
March
2012
 82


How
to
create
autonomous
development?
 Developmental
Architecture
 Back
to
our
agent…
 83
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 What
drives
the
agent
to
learn?
 84
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 What
drives
the
agent
to
learn?
 Task
 …by
giving
it
a
task?
 Dr.
Oubba?,
March
2012
 85


How
to
create
autonomous
development?
 Developmental
Architecture
 What
drives
the
agent
to
learn?
 Task
 …by
giving
it
a
task?
 Not
only
 86
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 What
drives
the
agent
to
learn?
 Task
 …by
giving
it
a
task?
 Not
only
 ...but
how
to
program
an
agent
without
knowing
the
 task!?
 87
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 What
drives
the
agent
to
learn?
 Task
 Mo?va?on?
 88
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 What
drives
the
agent
to
learn?
 Task
 Mo?va?on?
 This
might
work...
 89
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 Psychology
 Mo?va?on
is
what
gets
us
to
act.
 Dr.
Oubba?,
March
2012
 90


How
to
create
autonomous
development?
 Developmental
Architecture
 There
are
two
main
categories
of
mo?va?on
 Intrinsic
mo?va?on
 Extrinsic
mo?va?on
 doing
something
just
 doing
something
because
 because
it
is
enjoyable.

 it
leads
to
external
 (eg.
curiosity)

 rewards.
(e.g.
hunger)

 91
 Dr.
Oubba?,
March
2012


How
to
create
autonomous
development?
 Developmental
Architecture
 A
mo?ve
as
a
container
 sa?sfac?on
 +
 The
filling
state
of
 the
container
 represents
the
 degree
of
 sa?sfac?on.
 ‐
 consump?on
 (Inspired
by
the
PSI
theory
proposed
by
the
psychologist
Dietrich
Dörner)
 Dr.
Oubba?,
March
2012
 92


How
to
create
autonomous
development?
 Developmental
Architecture
 Extrinsic
mo?va?on
 Gathering
resources
 +
 Hunger
 ‐
 energy
consump?on
 Dr.
Oubba?,
March
2012
 93


How
to
create
autonomous
development?
 Developmental
Architecture
 Intrinsic
mo?va?on
 Exploring
Novelty
 +
 Curiosity
 ‐
 Predictability
of
 the
enviroment
 Dr.
Oubba?,
March
2012
 94


How
to
create
autonomous
development?
 Developmental
Architecture
 Mind
 Body
 Curiosity
 Hunger
 Dr.
Oubba?,
March
2012
 95


How
to
create
autonomous
development?
 Developmental
Architecture
 Curiosity
 Hunger
 Mo?ves
will
drive
the
agent
to
learn
as
much
as
possible
 about
the
environment.
 Dr.
Oubba?,
March
2012
 96


How
to
create
autonomous
development?
 Developmental
Architecture
 Curiosity
 Hunger
 The
needs
of
the
body
and
those
of
the
mind
may
 compete
 in
certain
circumstances.
 Dr.
Oubba?,
March
2012
 97


How
to
create
autonomous
development?
 Developmental
Architecture
 Curiosity
 Hunger
 Associa?ng
importance
to
one
mo?ve
over
the
other
is
 constantly
re‐evaluated
by
experience.
 Dr.
Oubba?,
March
2012
 98


How
to
create
autonomous
development?
 Developmental
Architecture
 Curiosity
 Hunger
 Learning
how
to
balance
between
mo?ves
will
provide
the
agent
the
 ability
to
solve
a
faced
problem
in
several
ways.
 Thus,
more
flexibility
(authority)
in
handling
situa?ons.
 Dr.
Oubba?,
March
2012
 99


How
to
create
autonomous
development?
 Developmental
Architecture
 how
to
ar?culate
preferences
 among
mo?ves?

 Dr.
Oubba?,
March
2012
 100