| 1. |
- Aktius, Malin, et al.
(författare)
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Kognitiv robotik
- 2012. - 1
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Ingår i: Kognitionsvetenskap. - : Studentlitteratur. - 9789144051666 ; , s. 551-560
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Bokkapitel (refereegranskat)
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| 2. |
- Chersi, Fabian, et al.
(författare)
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Sentence processing : linking language to motor chains
- 2010
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Ingår i: Frontiers in Neurorobotics. - : Frontiers Media S.A.. - 1662-5218. ; 4
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Tidskriftsartikel (refereegranskat)abstract
- A growing body of evidence in cognitive science and neuroscience points towards the existence of a deep interconnection between cognition, perception and action. According to this embodied perspective language is grounded in the sensorimotor system and language understanding is based on a mental simulation process (Jeannerod, 2007; Gallese, 2008; Barsalou, 2009). This means that during action words and sentence comprehension the same perception, action, and emotion mechanisms implied during interaction with objects are recruited. Among the neural underpinnings of this simulation process an important role is played by a sensorimotor matching system known as the mirror neuron system (Rizzolatti and Craighero, 2004). Despite a growing number of studies, the precise dynamics underlying the relation between language and action are not yet well understood. In fact, experimental studies are not always coherent as some report that language processing interferes with action execution while others find facilitation. In this work we present a detailed neural network model capable of reproducing experimentally observed influences of the processing of action-related sentences on the execution of motor sequences. The proposed model is based on three main points. The first is that the processing of action-related sentences causes the resonance of motor and mirror neurons encoding the corresponding actions. The second is that there exists a varying degree of crosstalk between neuronal populations depending on whether they encode the same motor act, the same effector or the same action-goal. The third is the fact that neuronal populations’ internal dynamics, which results from the combination of multiple processes taking place at different time scales, can facilitate or interfere with successive activations of the same or of partially overlapping pools.
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| 3. |
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| 4. |
- Ekanayake, Hiran, et al.
(författare)
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Assessing Performance Competence in Training Games
- 2011
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Ingår i: Affective Computing and Intelligent Interaction. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783642245701 - 9783642245718 ; , s. 518-527
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Konferensbidrag (refereegranskat)abstract
- In-process assessment of trainee learners in game-based simulators is a challenging activity. This typically involves human instructor time and cost, and does not scale to the one tutor per learner vision of computer-based learning. Moreover, evaluation from a human instructor is often subjective and comparisons between learners are not accurate. Therefore, in this paper, we propose an automated, formula-driven quantitative evaluation method for assessing performance competence in serious training games. Our proposed method has been empirically validated in a game-based driving simulator using 7 subjects and 13 sessions, and accuracy up to 90.25% has been achieved when compared to an existing qualitative method. We believe that by incorporating quantitative evaluation methods like these future training games could be enriched with more meaningful feedback and adaptive game-play so as to better monitor and support player motivation, engagement and learning performance.
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| 5. |
- Ekanayake, Hiran B., et al.
(författare)
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Affective Realism of Animated Films in the Development of Simulation-Based Tutoring Systems
- 2013
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Ingår i: International Journal of Distance Education Technologies. - : IGI Global. - 1539-3100 .- 1539-3119. ; 11:2
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a study focused on comparing real actors based scenarios and animated characters based scenarios with respect to their similarity in evoking psychophysiological activity for certain events by measuring galvanic skin response (GSR). In the experiment, one group (n=11) watched the real actors’ film whereas another group (n=7) watched the animated film, which had the same story and dialogue as the real actors’ film. The results have shown that there is no significant difference in the skin conductance response (SCR) scores between the two groups; however, responses significantly differ when SCR amplitudes are taken into account. Moreover, Pearson’s correlation reported as high as over 80% correlation between the two groups’ SCRs for certain time intervals. The authors believe that this finding is of general importance for the domain of simulation-based tutoring systems in development of and decisions regarding use of animated characters based scenarios.
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| 6. |
- Ekanayake, Hiran B., et al.
(författare)
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Comparing Expert and Novice Driving Behavior in a Driving Simulator
- 2013
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Ingår i: Interaction Design and Architecture(s) Journal - IxD&A. - : Interaction Design and Architecture(s). - 1826-9745 .- 2283-2998. ; :19, s. 115-131
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a study focused on comparing driving behavior of expert and novice drivers in a mid-range driving simulator with the intention of evaluating the validity of driving simulators for driver training. For the investigation, measurements of performance, psychophysiological measurements, and self-reported user experience under different conditions of driving tracks and driving sessions were analyzed. We calculated correlationsbetween quantitative and qualitative measures to enhance the reliability of the findings. The experiment was conducted involving 14 experienced drivers and 17 novice drivers. The results indicate that driving behaviors of expert and novice drivers differ from each other in several ways but it heavily depends on the characteristics of the task. Moreover, our belief is that the analytical framework proposed in this paper can be used as a tool for selecting appropriate driving tasks as well as for evaluating driving performance in driving simulators.
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| 7. |
- Ekanayake, Hiran B., et al.
(författare)
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Comparing expert driving behavior in real world and simulator contexts
- 2013
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Ingår i: International Journal of Computer Games Technology. - : Hindawi Publishing Corporation. - 1687-7047 .- 1687-7055.
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Tidskriftsartikel (refereegranskat)abstract
- Computer games are increasingly used for purposes beyond mere entertainment, and current hi-tech simulators can provide quite, naturalistic contexts for purposes such as traffic education. One of the critical concerns in this area is the validity or transferability of acquired skills from a simulator to the real world context. In this paper, we present our work in which we compared driving in the real world with that in the simulator at two levels, that is, by using performance measures alone, and by combining psychophysiological measures with performance measures. For our study, we gathered data using questionnaires as well as by logging vehicle dynamics, environmental conditions, video data, and users' psychophysiological measurements. For the analysis, we used several novel approaches such as scatter plots to visualize driving tasks of different contexts and to obtain vigilance estimators from electroencephalographic (EEG) data in order to obtain important results about the differences between the driving in the two contexts. Our belief is that both experimental procedures and findings of our experiment are very important to the field of serious games concerning how to evaluate the fitness of driving simulators and measure driving performance. © 2013 Hiran B. Ekanayake et al.
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| 8. |
- Ekanayake, Hiran, et al.
(författare)
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Game Interaction State Graphs for Evaluation of User Engagement in Explorative and Experience-based Training Games
- 2010
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Ingår i: 2010 International Conference on Advances in ICT for Emerging Regions (ICTer). - : IEEE conference proceedings. - 9781424490417 ; , s. 40-44
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Konferensbidrag (refereegranskat)abstract
- There is an increasing interest to use computer games for non-traditional education, such as for training purposes. For training education, simulators are considered as offering more realistic learning environments to experience situations that are similar to real world. This type of learning is more beneficial for practicing critical situations which are difficult or impossible in real world training, for instance experience the consequences of unsafe driving. However, the effectiveness of simulation-based learning of this nature is dependent upon the learner's engagement and explorative behaviour. Most current learner evaluation systems are unable to capture this type of learning. Therefore, in this paper we introduce the concept of game interaction state graphs (GISGs) to capture the engagement in explorative and experience-based training tasks. These graphs are constructed based on rules which capture psychologically significant learner behaviours and situations. Simple variables reflecting game state and learner's controller actions provide the ingredients to the rules. This approach eliminates the complexity involved with other similar approaches, such as constructing a full-fledged cognitive model for the learner. GISGs, at minimum, can be used to evaluate the explorative behaviour, the training performance and personal preferences of a learner.
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| 9. |
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| 10. |
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| 11. |
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| 12. |
- Jonsson, Fatima, 1972-
(författare)
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Hanging out in the game café : Contextualising co-located computer game play practices and experiences
- 2012
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- What social practices are people involved when staying in a game café? What kind of social setting is the game café? What are the attitudes towards playing computer games at home and in public among parents? What are the media representations of co-located game playing in public? What are the sensory experiences of playing co-located game play in public? This dissertation gives a descriptive and analytical account of the contexts and meanings of playing co-located computer games in public settings such as game cafés and LAN parties. The overall aim with the dissertation is to describe and investigate the social and cultural meanings and contexts of playing computer games in a game café. The research questions have been investigated in four empirical studies.The dissertation shows that people are involved in various social practices and activities aimed at supporting and maintaining social relationships among friends and peers. The game café can be seen as a third place, as it used by players for recreation and an escape from the pressure of home and school, a place which feels like home, is familiar and welcoming. However the game café is a limited third place used by young men who likes to play online and network games. The dissertation also shows how the social environment provides for specific sensory experiences. These sensory experiences involve sitting together side by side slapping each other’s shoulders and legs, eating candies and drinking sodas, listening to music. The representations of co-located game playing in public reproduce traditional gender roles where professional gamers are represented by men and causal gamers are represented by women (and men) as well as construct youth as party lovers. The study also suggests that parents’ attitudes towards their children playing games in public draw on traditional values and ideas about children’s play and social relationships.
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| 13. |
- Kiryazov, Kiril, et al.
(författare)
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From the virtual to the robotic : Bringing emoting and appraising agents into reality
- 2011
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Ingår i: Proceedings of the 2nd European Future Technologies Conference and Exhibition 2011 (FET 11). - : Elsevier. ; , s. 241-243
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Konferensbidrag (refereegranskat)abstract
- - A classical appraisal model of emotions extended with artificial metabolic mechanisms is presented. The new architecture is based on two existing models: WASABI and a model of Microbial Fuel Cell technology. WASABI is a top-down cognitive model which is implemented in several virtual world applications such as a museum guide. Microbial fuel cells provide energy for the robot through digesting food. The presented work is a first step towards imbuing a physical robot with emotions of human-like complexity. Classically, such integration has only been attempted in the virtual domain. The research aim is to study the embodied appraisal theory and to show the role of the body in the emotion mechanisms. Some initial tests of the architecture with humanoid NAO robot in a minimalistic scenario are presented. © Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B.V.
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| 14. |
- Kiryazov, Kiril, et al.
(författare)
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Modelling Embodied Appraisal in Humanoids : Grounding PAD space for Augmented Autonomy
- 2011
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Ingår i: Proceedings of the Workshop on Standards in Emotion Modeling, 2011.
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- A computational emotion architecture is presented which grounds an aspect of an appraisal theoretic architecture in energy related processes. The incorporation of an energy constraint on emotional-cognitive behaviour allows greater potential for autonomous agency when implemented on a physical (NAO) robot platform. In this paper we present an algorithm that enables metabolic grounding of the arousal component of the PAD emotion space used in the architecture. We describe an exemplar problem that abstracts variables and performance criteria relevant to service robotics applications. Future work on further integration based on neurobiological grounding is discussed as well as means by which the exemplar scenario may be scaled up to more realistic service robotics based scenarios.
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| 15. |
- Lee, Gauss, et al.
(författare)
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Modelling Early Infant Walking : Testing a Generic CPG Architecture on the NAO Humanoid
- 2011
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Ingår i: IEEE International Conference on Development and Learning (ICDL), 2011. - : IEEE conference proceedings. - 9781612849898 ; , s. 1-6
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Konferensbidrag (refereegranskat)abstract
- In this article, a simple CPG network is shown to model early infant walking, in particular the onset of independent walking. The difference between early infant walking and early adult walking is addressed with respect to the underlying neurophysiology and evaluated according to gait attributes. Based on this, we successfully model the early infant walking gait on the NAO robot and compare its motion dynamics and performance to those of infants. Our model is able to capture the core properties of early infant walking. We identify differences in the morphologies between the robot and infant and the effect of this on their respective performance. In conclusion, early infant walking can be seen to develop as a function of the CPG network and morphological characteristics.
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| 16. |
- Li, Cai, et al.
(författare)
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A novel approach to locomotion learning: Actor-Critic architecture using central pattern generators and dynamic motor primitives
- 2014
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Ingår i: Frontiers in Neurorobotics. - : Frontiers. - 1662-5218. ; 8
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modeling objective is split into two: baseline motion modeling and dynamics adaptation. Baseline motion modeling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a "reshaping" function for adapting the baseline motion to desired motion. Based on this assumption, a three-layer architecture is developed using central pattern generators (CPGs, a bio-inspired locomotor center for the baseline motion) and dynamic motor primitives (DMPs, a model with universal "reshaping" functions). In this article, we use this architecture with the actor-critic algorithms for finding a good "reshaping" function. In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: (1) learning to crawl on a humanoid and, (2) learning to gallop on a puppy robot. Two types of actor-critic algorithms (policy search and policy gradient) are compared in order to evaluate the advantages and disadvantages of different actor-critic based learning algorithms for different morphologies. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed in the conclusion.
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| 17. |
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| 18. |
- Li, Cai, et al.
(författare)
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Crawling Posture Learning in Humanoid Robots using a Natural-Actor-Critic CPG Architecture
- 2013
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Ingår i: Advances in Artificial Life, ECAL 2013, Proceedings of the Twelfth European Conference on the Synthesis and Simulation of Living Systems. - : MIT Press. ; , s. 1182-1190
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Konferensbidrag (refereegranskat)abstract
- In this article, a four-cell CPG network, exploiting sensory feedback, is proposed in order to emulate infant crawling gaits when utilized on the NAO robot. Based on the crawling model, the positive episodic natural-actor-critic architecture is applied to learn a proper posture of crawling on a simulated NAO. By transferring the learned results to the physical NAO, the transferability from simulation to physical world is discussed. Finally, a discussion pertaining to locomotion learning based on dynamic system theory is given in the conclusion.
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| 19. |
- Li, Cai, et al.
(författare)
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DMPs based CPG Actor Critic: A Method for Locomotion Learning
- 2014
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- In this article, a dynamic motor primitives (DMPs) based CPG-Actor-Critic is proposed to enable locomotion learning on a humanoid (the NAO robot) and a puppy robot (the ghostdog robot). In order to model two types of locomotion with one architecture, a novel application of an existing method to designa CPG architecture for learning locomotion. The method is to a) have an architectural base (4-cell CPG) and, b) have a learning component which is based on an existing method for designing DMPs. Learning locomotion here concerns gait emergence in relation to the robot’s body and prior knowledge. The focus of this article will be on two types of locomotion: crawling on ahumanoid and running on a puppy robot. On the two robots with two different morphologies, our method and architecture can make the robots learn by itself. We also compare the performance with respect to two state-of-the-art reinforcement learning algorithms with provided particular instantiations of ourDMPs-based CPG-Actor-Critic architecture. Finally, based on the analysis of the experimental results, a generic view/architecture for locomotion learning is discussed and introduced in the conclusion.
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| 20. |
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| 21. |
- Li, Cai, et al.
(författare)
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Humanoids learning to crawl based on Natural CPG-Actor-Critic and Motor Primitives
- 2013
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Ingår i: Proceedings of IROS 2013 Workshop on Neuroscience and Robotics, Tokyo, Japan. ; , s. 7-15
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- In this article, a new CPG-Actor-Critic architecturebased on motor primitives is proposed to perform a crawlinglearning task on a humanoid (the NAO robot). Starting froman interdisciplinary explanation of the theories, we present twoinvestigations to test the important functions of the layeredCPG architecture: sensory feedback integration and whole-bodyposture control. Based on the analysis of the experimental results,a generic view/architecture for locomotion learning is discussedand introduced in the conclusion.
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| 22. |
- Li, Cai, et al.
(författare)
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Humanoids learning to walk : a natural CPG-actor-critic architecture
- 2013
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Ingår i: Frontiers in Neurorobotics. - : Frontiers Media S.A.. - 1662-5218. ; 7:5
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Tidskriftsartikel (refereegranskat)abstract
- The identification of learning mechanisms for locomotion has been the subject of much research for some time but many challenges remain. Dynamic systems theory (DST) offers a novel approach to humanoid learning through environmental interaction. Reinforcement learning (RL) has offered a promising method to adaptively link the dynamic system to the environment it interacts with via a reward-based value system. In this paper, we propose a model that integrates the above perspectives and applies it to the case of a humanoid (NAO) robot learning to walk the ability of which emerges from its value-based interaction with the environment. In the model, a simplified central pattern generator (CPG) architecture inspired by neuroscientific research and DST is integrated with an actor-critic approach to RL (cpg-actor-critic). In the cpg-actor-critic architecture, least-square-temporal-difference based learning converges to the optimal solution quickly by using natural gradient learning and balancing exploration and exploitation. Futhermore, rather than using a traditional (designer-specified) reward it uses a dynamic value function as a stability indicator that adapts to the environment. The results obtained are analyzed using a novel DST-based embodied cognition approach. Learning to walk, from this perspective, is a process of integrating levels of sensorimotor activity and value.
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| 23. |
- Li, Cai, et al.
(författare)
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Humanoids that crawl : Comparing gait performance of iCub and NAO using a CPG architecture
- 2011
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Ingår i: Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011. - : IEEE conference proceedings. - 9781424487271 - 9781424487288 - 9781424487264 - 9781424487257 ; , s. 577-582
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Konferensbidrag (refereegranskat)abstract
- In this article, a generic CPG architecture is used to model infant crawling gaits and is implemented on the NAO robot platform. The CPG architecture is chosen via a systematic approach to designing CPG networks on the basis of group theory and dynamic systems theory. The NAO robot performance is compared to the iCub robot which has a different anatomical structure. Finally, the comparison of performance and NAO whole-body stability are assessed to show the adaptive property of the CPG architecture and the extent of its ability to transfer to different robot morphologies. © 2011 IEEE.
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| 24. |
- Li, Cai, et al.
(författare)
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Modelling Walking Behaviors Based on CPGs : A Simplified Bio-inspired Architecture
- 2012
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Ingår i: From Animals to Animats 12. - Berlin; Heidelberg : Springer Berlin/Heidelberg. - 9783642330926 - 9783642330933 ; , s. 156-166
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Konferensbidrag (refereegranskat)abstract
- In this article, we use a recurrent neural network including four-cell core architecture to model the walking gait and implement it with the simulated and physical NAO robot. Meanwhile, inspired by the biological CPG models, we propose a simplified CPG model which comprises motorneurons, interneurons, sensor neurons and the simplified spinal cord. Within this model, the CPGs do not directly output trajectories to the servo motors. Instead, they only work to maintain the phase relation among ipsilateral and contralateral limbs. The final output is dependent on the integration of CPG signals, outputs of interneurons, motor neurons and sensor neurons (sensory feedback).
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| 25. |
- Li, Cai
(författare)
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Reinforcement Learning of Locomotion based on Central Pattern Generators
- 2014
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Locomotion learning for robotics is an interesting and challenging area in which the movement capabilities of animals have been deeply investigated and acquired knowledge has been transferred into modelling locomotion on robots. What modellers are required to understand is what structure can represent locomotor systems in different animals and how such animals develop various and dexterous locomotion capabilities. Notwithstanding the depth of research in the area, modelling locomotion requires a deep rethinking.In this thesis, based on the umbrella of embodied cognition, a neural-body-environment interaction is emphasised and regarded as the solution to locomotion learning/development. Central pattern generators (CPGs) are introduced in the first part (Chapter 2) to generally interpret the mechanism of locomotor systems in animals. With a deep investigation on the structure of CPGs and inspiration from human infant development, a layered CPG architecture with baseline motion generation and dynamics adaptation interfaces are proposed. In the second part, reinforcement learning (RL) is elucidated as a good method for dealing with locomotion learning from the perspectives of psychology, neuroscience and robotics (Chapter 4). Several continuous-space RL techniques (e.g. episodic natural actor critic, policy learning by weighting explorations with returns, continuous action space learning automaton are introduced for practical use (Chapter 3). With the knowledge of CPGs and RL, the architecture and concept of CPG-Actor-Critic is constructed. Finally, experimental work based on published papers is highlighted in a path of my PhD research (Chapter 5). This includes the implementation of CPGs and the learning on the NAO robot for crawling and walking. The implementation is also extended to test the generalizability to different morphologies (the ghostdog robot). The contribution of this thesis is discussed from two angles: the investigation of the CPG architecture and the implementation (Chapter 6).
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| 26. |
- Lindblom, Jessica, et al.
(författare)
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Den kognitiva kroppen
- 2012. - 1
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Ingår i: Kognitionsvetenskap. - Lund : Studentlitteratur. - 9789144051666 ; , s. 239-248
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Bokkapitel (refereegranskat)
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| 27. |
- Lowe, Robert, et al.
(författare)
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A Dynamic Field Theoretic Model of Iowa Gambling Task Performance
- 2010
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Ingår i: 2010 IEEE 9th International Conference on Development and Learning (ICDL). - : IEEE conference proceedings. - 9781424469024 - 1424469023 - 9781424469000 - 1424469007 ; , s. 297-304
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Konferensbidrag (refereegranskat)abstract
- Choice behaviour where outcome-contingencies vary or are prohabilistic has been the focus of many benchmark tasks of infant to adult development in the psychology literature. Dynamic field theoretic (DFT) investigations of cognitive and behavioural competencies have been used in order to identify parameters critical to infant development. In this paper we report the findings of a DFT model that is able to replicate normal functioning adult performance on the Iowa gambling task (IGT). The model offers a simple demonstration proof of the parsimonious reversal learning alternative to Damasio’s somatic marker explanation of IGT performance. Our simple model demonstrates a potentially important role for reinforcement/reward learning to generating behaviour that allows for advantageous performance. We compare our DFT modelling approach to one used on the A-not-B infant paradigm and suggest that a critical aspect of development lies in the ability to flexibly trade off perseverative versus exploratory behaviour in order to capture statistical choice-outcome contingencies. Finally, we discuss the importance of an investigation of the IGT in an embodied setting where reward prediction learning may provide critical means by which adaptive behavioural reversals can be enacted.
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| 28. |
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| 29. |
- Lowe, Robert, et al.
(författare)
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Grounding Motivation in Energy Autonomy : A Study of Artificial Metabolism Constrained Robot Dynamics
- 2010
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Ingår i: Artificial Life XII. - Cambridge, Massachusetts, London, England : MIT Press. - 9780262290753 - 0262290758 ; , s. 725-732
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Konferensbidrag (refereegranskat)abstract
- We present an evolutionary robotics investigation into the metabolism constrained homeostatic dynamics of a simulated robot. Unlike existing research that has focused on either energy or motivation autonomy the robot described here is considered in terms of energy-motivation autonomy. This stipulation is made according to a requirement of autonomous systems to spatiotemporally integrate environmental and physiological sensed information. In our experiment, the latter is generated by a simulated artificial metabolism (a microbial fuel cell batch) and its integration with the former is determined by an E-GasNet-active vision interface. The investigation centres on robot performance in a three-dimensional simulator on a stereotyped two-resource problem. Motivationlike states emerge according to periodic dynamics identifiable for two viable sensorimotor strategies. Robot adaptivity is found to be sensitive to experimenter-manipulated deviations from evolved metabolic constraints. Deviations detrimentally affect the viability of cognitive (anticipatory) capacities even where constraints are significantly lessened. These results support the hypothesis that grounding motivationally autonomous robots is critical to adaptivity and cognition.
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| 30. |
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| 31. |
- Lowe, Robert, et al.
(författare)
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The feeling of action tendencies : on the emotional regulation of goal-directed behavior
- 2011
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Ingår i: Frontiers in Psychology. - : Frontiers Research Foundation. - 1664-1078. ; 2:Dec, s. Article 346-
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Forskningsöversikt (refereegranskat)abstract
- In this article, we review the nature of the functional and causal relationship between neurophysiologically/psychologically generated states of emotional feeling and action tendencies and extrapolate a novel perspective. Emotion theory, over the past century and beyond, has tended to regard feeling and action tendency as independent phenomena: attempts to outline the functional and causal relationship that exists between them have been framed therein. Classically, such relationships have been viewed as unidirectional, but an argument for bidirectionality rooted in a dynamic systems perspective has gained strength in recent years whereby the feeling-action tendency relationship is viewed as a composite whole. On the basis of our review of somatic-visceral theories of feelings, we argue that feelings are grounded upon neural-dynamic representations (elevated and stable activation patterns) of action tendency. Such representations amount to predictions updated by cognitive and bodily feedback. Specifically, we view emotional feelings as minimalist predictions of the action tendency (what the agent is physiologically and cognitively primed to do) in a given situation. The essence of this point is captured by our exposition of action tendency prediction-feedback loops with we consider, above all, in the context of emotion regulation, and in particular, of emotional regulation of goal-directed behavior. The perspective outlined may be of use to emotion theorists, computational modelers, and roboticists.
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| 32. |
- Lowe, Robert, et al.
(författare)
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The role of reinforcement in affective computation
- 2013
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Ingår i: Proceedings of the 2013 IEEE Symposium on Computational Intelligence for Creativity and Affective Computing, CICAC 2013. - : IEEE conference proceedings. - 9781467360104 ; , s. 17-24
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Konferensbidrag (refereegranskat)
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| 33. |
- Lowe, Robert, et al.
(författare)
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Towards a cognitive robotics methodology for reward-based decision-making : dynamical systems modelling of the Iowa Gambling Task
- 2010
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Ingår i: Connection science (Print). - : Taylor & Francis. - 0954-0091 .- 1360-0494. ; 22:3, s. 247-289
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Tidskriftsartikel (refereegranskat)abstract
- The somatic marker hypothesis (SMH) posits that the role of emotions and mental states in decision-making manifests through bodily responses to stimuli of import to the organism’s welfare. The Iowa Gambling Task (IGT), proposed by Bechara and Damasio in the mid-1990s, has provided the major source of empirical validation to the role of somatic markers in the service of flexible and cost-effective decision-making in humans. In recent years the IGT has been the subject of much criticism concerning: (1) whether measures of somatic markers reveal that they are important for decision-making as opposed to behaviour preparation; (2) the underlying neural substrate posited as critical to decision-making of the type relevant to the task; and (3) aspects of the methodological approach used, particularly on the canonical version of the task. In this paper, a cognitive robotics methodology is proposed to explore a dynamical systems approach as it applies to the neural computation of reward-based learning and issues concerning embodiment. This approach is particularly relevant in light of a strongly emerging alternative hypothesis to the SMH, the reversal learning hypothesis, which links, behaviourally and neurocomputationally, a number of more or less complex reward-based decision-making tasks, including the ‘A-not-B’ task – already subject to dynamical systems investigations with a focus on neural activation dynamics. It is also suggested that the cognitive robotics methodology may be used to extend systematically the IGT benchmark to more naturalised, but nevertheless controlled, settings that might better explore the extent to which the SMH, and somatic states per se, impact on complex decision-making.
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| 34. |
- Montebelli, Alberto, et al.
(författare)
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Energy Constraints and Behavioral Complexity : The Case of a Robot with a Living Core
- 2011
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Ingår i: Complex Adaptive Systems: Energy, Information, and Intelligence. - Palo Alto, Calif. : AAAI Press. - 9781577355472 - 1577355474 ; , s. 109-116
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Konferensbidrag (refereegranskat)abstract
- The new scenarios of contemporary adaptive robotics seem to suggest a transformation of the traditional methods. In the search for new approaches to the control of adaptive autonomous systems, the mind becomes a fundamental source of inspiration. In this paper we anticipate, through the use of simulation, the cognitive and behavioral properties that emerge from a recent prototype robotic platform, EcoBot, a family of bio-mechatronic symbionts provided with an 'artificial metabolism', that has been under physical development during recent years. Its energy reliance on a biological component and the consequent limitation of its supplied energy determine a special kind of dynamic coupling between the robot and its environment. Rather than just an obstacle, energetic constraints become the opportunity for the development of a rich set of behavioral and cognitive properties.
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| 35. |
- Montebelli, Alberto, et al.
(författare)
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Microbial fuel cell driven behavioural dynamics in robot simulations
- 2010
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Ingår i: Artificial Life XII. - Cambridge, Massachusetts : MIT Press. - 9780262290753 - 0262290758 ; , s. 749-756
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Konferensbidrag (refereegranskat)abstract
- With the present study we report the first application of a recently proposed model for realistic microbial fuel cells (MFCs) energy generation dynamics, suitable for robotic simulations with minimal and extremely limited computational overhead. A simulated agent was adapted in order to engage in a viable interaction with its environment. It achieved energy autonomy by maintaining viable levels of the critical variables of MFCs, namely cathodic hydration and anodic substrate biochemical energy. After unsupervised adaptation by genetic algorithm, these crucial variables modulate the behavioral dynamics expressed by viable robots in their interaction with the environment. The analysis of this physically rooted and self-organized dynamic action selection mechanism constitutes a novel practical contribution of this work. We also compare two different viable strategies, a self-organized continuous and a pulsed behavior, in order to foresee the possible cognitive implications of such biologicalmechatronics hybrid symbionts in a novel scenario of ecologically grounded energy and motivational autonomy.
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| 36. |
- Montebelli, Alberto
(författare)
-
Modeling the Role of Energy Management in Embodied Cognition
- 2012
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The quest for adaptive and autonomous robots, flexible enough to smoothly comply with unstructured environments and operate in close interaction with humans, seems to require a deep rethinking of classical engineering methods. The adaptivity of natural organisms, whose cognitive capacities are rooted in their biological organization, is an obvious source of inspiration. While approaches that highlight the role of embodiment in both cognitive science and cognitive robotics are gathering momentum, the crucial role of internal bodily processes as foundational components of the biological mind is still largely neglected.This thesis advocates a perspective on embodiment that emphasizes the role of non-neural bodily dynamics in the constitution of cognitive processes in both natural and artificial systems. In the first part, it critically examines the theoretical positions that have influenced current theories and the author's own position. The second part presents the author's experimental work, based on the computer simulation of simple robotic agents engaged in energy-related tasks. Proto-metabolic dynamics, modeled on the basis of actual microbial fuel cells for energy generation, constitute the foundations of a powerful motivational engine. Following a history of adaptation, proto-metabolic states bias the robot towards specific subsets of behaviors, viably attuned to the current context, and facilitate a swift re-adaptation to novel tasks. Proto-metabolic dynamics put the situated nature of the agent-environment sensorimotor interaction within a perspective that is functional to the maintenance of the robot's overall `survival'. Adaptive processes tend to convert metabolic constraints into opportunities, branching into a rich and energetically viable behavioral diversity.
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| 37. |
- Montebelli, Alberto, et al.
(författare)
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More from the Body : Embodied anticipation for swift re-adaptation in neurocomputational cognitive architectures for robotic agents
- 2010
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Ingår i: Advances in Cognitive Systems. - Stevenage : Institution of Engineering and Technology. - 1849190755 - 1849190763 - 9781849190756 - 9781849190763 ; , s. 249-270
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Bokkapitel (refereegranskat)abstract
- The coupling between a body (in an extended sense that encompasses both neural and non-neural dynamics) and its environment is here conceived as a critical substrate for cognition. We propose and discuss the plan for a neurocomputational cognitive architecture for robotic agents, so far implemented in its minimal form for supporting the behavior of a simple simulated robotic agent. A non-neural internal bodily mechanism (crucially characterized by a time scale much slower than the normal sensory-motor interactions of the robot with its environment) extends the cognitive potential of a system composed of purely reactive parts with a dynamic action selection mechanism and the capacity to integrate information over time. The same non-neural mechanism is the foundation for a novel, minimalist anticipatory architecture, implementing our bodily-anticipation hypothesis and capable of swift re-adaptation to related yet novel tasks.
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| 38. |
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| 39. |
- Morse, Anthony F., et al.
(författare)
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The role of robotic modelling in cognitive science
- 2011
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Ingår i: New ideas in psychology. - : Elsevier. - 0732-118X .- 1873-3522. ; 29:3, s. 312-324
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Tidskriftsartikel (refereegranskat)abstract
- From the perspective of cognitive robotics, this paper presents a modern interpretation of Newell’s (1973) reasoning and suggestions for why and how cognitive psychologists should develop models of cognitive phenomena. We argue that the shortcomings of current cognitive modelling approaches are due in significant part to a lack of exactly the kind of integration required for the development of embodied autonomous robotics. Moreover we suggest that considerations of embodiment, situatedness, and autonomy, intrinsic to cognitive robotics, provide an appropriate basis for the integration and theoretic cumulation that Newell argued was necessary for psychology to mature. From this perspective we analyse the role of embodiment and modes of situatedness in terms of integration, cognition, emotion, and autonomy. Four complementary perspectives on embodied and situated cognitive science are considered in terms of their potential to contribute to cognitive robotics, cognitive science, and psychological theorizing: minimal cognition and organization, enactive perception and sensorimotor contingency, homeostasis and emotion, and social embedding. In combination these perspectives provide a framework for cognitive robotics, not only wholly compatible with the original aims of cognitive modelling, but as a more appropriate methodology than those currently in common use within psychology.
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| 40. |
- Nilsson, Maria
(författare)
-
Capturing semi-automated decision making : the methodology of CASADEMA
- 2010
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis presents a new methodology named CASADEMA (CApturing Semi-Automated DEcision MAking) which captures the interaction between humans and the technology they use to support their decision-making within the domain of Information Fusion. We are particularly interested in characterising the interaction between human decision makers and artefacts in semi-automated fusion processes. In our investigation we found that the existing approaches are limited in their ability to capture such interactions in sufficient detail. The presented method is built upon a distributed-cognition perspective. The use of this particular theoretical framework from cognitive science enables the method to take into account not only the role of the data captured in the physical and digital artefacts of the fusion system (e.g., radar readings, information from a fax or database, a piece of paper, etc.), but also the cognitive support function of the artefacts themselves (e.g., as an external memory) as part of the fusion process. That is, the interdependencies between the fusion process and decision-making can be captured. This thesis thus contributes to two main fields. Firstly, it enables, through CASADEMA, a distributed-cognition perspective of fusion processes in the, otherwise, rather technology-oriented field of Information Fusion. This has important conceptual implications, since it views fusion processes as extending beyond the boundary of physical/computer systems, to include humans, technology, and tools, as well as the interactions between them. It is argued that a better understanding of these interactions can lead to a better design of fusion processes, making CASADEMA an important contribution to the information fusion field. Secondly, the thesis provides, again in the form of CASADEMA, a practical application of the distributed-cognition theoretical framework. Importantly, the notations and definitions introduced in CASADEMA structure the otherwise currently rather loosely defined concepts and approaches in distributed cognition research. Hence, the work presented here also contributes to the fields of cognitive science and human-computer interaction.
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| 41. |
- Nilsson, Maria, et al.
(författare)
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Information fusion in practice : A distributed cognition perspective on the active role of users
- 2012
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Ingår i: Information Fusion. - : Elsevier. - 1566-2535 .- 1872-6305. ; 13:1, s. 60-78
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Tidskriftsartikel (refereegranskat)abstract
- Traditionally, the focus of most information fusion research has been on computational aspects, as illustrated by, for example, different versions of the JDL data fusion model. Consequently, the human user has mainly been conceived as a relatively passive recipient of fused information. However, the importance of understanding the active role of human information processing in information fusion is gaining increasing recognition, as also reflected in discussions of a "level 5" in the JDL model. This paper presents a case study of the interaction between human and machine information processing in a maritime surveillance control room. A detailed analysis of cognitive processes and information flows involved in identifying and tracking moving vessels illustrates how machines and human operators collaboratively perform fusion in a highly distributed fashion. The theoretical framework of distributed cognition provides an alternative or complementary way of analysing information fusion systems/processes that more clearly reveals the actual complexities of the interaction between human and machine information processing in practice. (C) 2011 Elsevier B.V. All rights reserved.
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| 42. |
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| 43. |
- Rambusch, Jana
(författare)
-
Mind Games Extended : Understanding Gameplay as Situated Activity
- 2010
-
Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis addresses computer gameplay activities in terms of the physical handling of a game, players’ meaning-making activities, and how these two processes are closely interrelated. It is examined in greater detail which role the body plays in gameplay, but also how gameplay is shaped by sociocultural factors outside the game, including different kind of tools and players’ participation in community practices. An important step towards an understanding of these key factors and their interaction is the consideration of gameplay as situated activity where players who actively engage with games are situated in both the physical world and the virtual in-game world. To analyse exactly how players interact with both worlds, two case studies on two different games have been carried out, and three different levels of situatedness are identifed and discussed in detail in this thesis, on the basis of existing theories within situated cognition research.
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| 44. |
- Riveiro, Maria, 1978-
(författare)
-
Visual analytics for maritime anomaly detection
- 2011
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The surveillance of large sea areas typically involves the analysis of huge quantities of heterogeneous data. In order to support the operator while monitoring maritime traffic, the identification of anomalous behavior or situations that might need further investigation may reduce operators' cognitive load. While it is worth acknowledging that existing mining applications support the identification of anomalies, autonomous anomaly detection systems are rarely used for maritime surveillance. Anomaly detection is normally a complex task that can hardly be solved by using purely visual or purely computational methods. This thesis suggests and investigates the adoption of visual analytics principles to support the detection of anomalous vessel behavior in maritime traffic data. This adoption involves studying the analytical reasoning process that needs to be supported, using combined automatic and visualization approaches to support such process, and evaluating such integration. The analysis of data gathered during interviews and participant observations at various maritime control centers and the inspection of video recordings of real anomalous incidents lead to a characterization of the analytical reasoning process that operators go through when monitoring traffic. These results are complemented with a literature review of anomaly detection techniques applied to sea traffic. A particular statistical-based technique is implemented, tested, and embedded in a proof-of-concept prototype that allows user involvement in the detection process. The quantitative evaluation carried out by employing the prototype reveals that participants who used the visualization of normal behavioral models outperformed the group without aid. The qualitative assessment shows that domain experts are positive towards providing automatic support and the visualization of normal behavioral models, since these aids may reduce reaction time, as well as increase trust and comprehensibility in the system. Based on the lessons learned, this thesis provides recommendations for designers and developers of maritime control and anomaly detection systems, as well as guidelines for carrying out evaluations of visual analytics environments.
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| 45. |
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| 46. |
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| 47. |
- Svensson, Henrik, et al.
(författare)
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Dreaming of electric sheep? : Exploring the functions of dream-like mechanisms in the development of mental imagery simulations
- 2013
-
Ingår i: Adaptive Behavior. - : Sage Publications. - 1059-7123 .- 1741-2633. ; 21:4, s. 222-238
-
Tidskriftsartikel (refereegranskat)abstract
- According to the simulation hypothesis, mental imagery can be explained in terms of predictive chains of simulated perceptions and actions, i.e., perceptions and actions are reactivated internally by our nervous system to be used in mental imagery and other cognitive phenomena. Our previous research shows that it is possible but not trivial to develop simulations in robots based on the simulation hypothesis. While there are several previous approaches to modelling mental imagery and related cognitive abilities, the origin of such internal simulations has hardly been addressed. The inception of simulation (InSim) hypothesis suggests that dreaming has a function in the development of simulations by forming associations between experienced, non-experienced but realistic, and even unrealistic perceptions. Here, we therefore develop an experimental set-up based on a simple simulated robot to test whether such dream-like mechanisms can be used to instruct research into the development of simulations and mental imagery-like abilities. Specifically, the hypothesis is that dreams' informing the construction of simulations lead to faster development of good simulations during waking behaviour. The paper presents initial results in favour of the hypothesis.
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| 48. |
- Svensson, Henrik
(författare)
-
Simulations
- 2013
-
Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis is concerned with explanations of embodied cognition as internal simulation. The hypothesis is that several cognitive processes can be explained in terms of predictive chains of simulated perceptions and actions.In other words, perceptions and actions are reactivated internally by the nervous system to be used in cognitive phenomena such as mental imagery.This thesis contributes by advancing the theoretical foundations of simulations and the empirical grounds on which they are based, including a review of the empiricial evidence for the existence of simulated perceptions and actions in cognition, a clarification of the representational function of simulations in cognition, as well as identifying implicit, bodily and environmental anticipation as key mechanisms underlying such simulations. The thesis also develops the ³inception of simulation² hypothesis, which suggests that dreaming has a function in the development of simulations by forming associations between experienced, non-experienced but realistic, and even unrealistic perceptions during early childhood. The thesis further investigates some aspects of simulations and the ³inception of simulation² hypothesis by using simulated robot models based on echo state networks. These experiments suggest that it is possible for a simple robot to develop internal simulations by associating simulated perceptions and actions, and that dream-like experiences can be beneficial for the development of such simulations.
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| 49. |
- Thill, Serge, et al.
(författare)
-
Flexible sequence learning in a SOM model of the mirror system
- 2012
-
Ingår i: Building Bridges Across Cognitive Sciences Around the World. - Austin, TX : Cognitive Science Society, Inc.. - 9780976831884 ; , s. 2423-2428
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Konferensbidrag (refereegranskat)abstract
- We present initial work on a biologically and cognitively inspired model that may allow embodied agents to autonomously learn sequences of action primitives (forming an overall behaviour). Specifically, we combine a flexible model of sequence generation with a model of parietal mirror neuron activity. The main purpose is to illustrate that the approach is viable. Although further work is needed to improve the results sketched out here, the concept is sound and relevant both to efforts in modelling mirror neuron activity and enabling artificial embodied agents to autonomously learn sequences of action primitives.
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| 50. |
- Thill, Serge, et al.
(författare)
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Learning New Motion Primitives in the Mirror Neuron System : A Self-organising Computational Model
- 2010
-
Ingår i: From Animals to Animats 11. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783642151927 - 9783642151934 ; , s. 413-423
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Konferensbidrag (refereegranskat)abstract
- Computational models of the mirror (neuron) system are attractive in robotics as they may inspire novel approaches to implemente.g. action understanding. Here, we present a simple self-organising map which forms the first part of larger ongoing work in building such amodel. We show that minor modifications to the standard implementation of such a map allows it to continuously learn new motor concepts.We find that this learning is facilitated by an initial motor babbling phase, which is in line with an embodied view of cognition. Interestingly,we also find that the map is capable of reproducing neurophysiologicaldata on goal-encoding mirror neurons. Overall, our model thus fulfils the crucial requirement of being able to learn new information throughout its lifetime. Further, although conceptually simple, its behaviour has interesting parallels to both cognitive and neuroscientific evidence.
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