The implications of embodiment for behavior and cognition: animal and robotic case studies

In this paper, we will argue that if we want to understand the function of the brain (or the control in the case of robots), we must understand how the brain is embedded into the physical system, and how the organism interacts with the real world. While embodiment has often been used in its trivial meaning, i.e. 'intelligence requires a body', the concept has deeper and more important implications, concerned with the relation between physical and information (neural, control) processes. A number of case studies are presented to illustrate the concept. These involve animals and robots and are concentrated around locomotion, grasping, and visual perception. A theoretical scheme that can be used to embed the diverse case studies will be presented. Finally, we will establish a link between the low-level sensory-motor processes and cognition. We will present an embodied view on categorization, and propose the concepts of 'body schema' and 'forward models' as a natural extension of the embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5

Software integration testing based on communication coverage criteria and partial model generation

This paper considers the problem of integration testing the components of a timed distributed software system. We assume that communication between the components is specified using timed interface automata and use computational tree logic (CTL) to define communication-based coverage criteria that refer to send- and receive-statements and communication paths. The proposed method enables testers to focus during component integration on such parts of the specification, e.g. behaviour specifications or Markovian usage models, that are involved in the communication between components to be integrated. A more specific application area of this approach is the integration of test-models, e.g. a transmission gear can be tested based on separated models for the driver behaviour, the engine condition, and the mechanical and hydraulical transmission states. Given such a state-based specification of a distributed system and a concrete coverage goal, a model checker is used in order to determine the coverage or generate test sequences that achieve the goal. Given the generated test sequences we derive a partial test-model of the components from which the test sequences are derived. The partial model can be used to drive further testing and can also be used as the basis for producing additional partial models in incremental integration testing. While the process of deriving the test sequences could suffer from a combinatorial explosion, the effort required to generate the partial model is polynomial in the number of test sequences and their length. Thus, where it is not feasible to produce test sequences that achieve a given type of coverage it is still possible to produce a partial model on the basis of test sequences generated to achieve some other criterion. As a result, the process of generating a partial model has the potential to scale to large industrial software systems. While a particular model checker, UPPAAL, was used, it should be relatively straightforward to adapt the approach for use with other CTL based model checkers. A potential additional benefit of the approach is that it provides a visual description of the state-based testing of distributed systems, which may be beneficial in other contexts such as education and comprehension

Computational and Robotic Models of Early Language Development: A Review

We review computational and robotics models of early language learning and development. We first explain why and how these models are used to understand better how children learn language. We argue that they provide concrete theories of language learning as a complex dynamic system, complementing traditional methods in psychology and linguistics. We review different modeling formalisms, grounded in techniques from machine learning and artificial intelligence such as Bayesian and neural network approaches. We then discuss their role in understanding several key mechanisms of language development: cross-situational statistical learning, embodiment, situated social interaction, intrinsically motivated learning, and cultural evolution. We conclude by discussing future challenges for research, including modeling of large-scale empirical data about language acquisition in real-world environments. Keywords: Early language learning, Computational and robotic models, machine learning, development, embodiment, social interaction, intrinsic motivation, self-organization, dynamical systems, complexity.Comment: to appear in International Handbook on Language Development, ed. J. Horst and J. von Koss Torkildsen, Routledg

A Review of Verbal and Non-Verbal Human-Robot Interactive Communication

In this paper, an overview of human-robot interactive communication is presented, covering verbal as well as non-verbal aspects of human-robot interaction. Following a historical introduction, and motivation towards fluid human-robot communication, ten desiderata are proposed, which provide an organizational axis both of recent as well as of future research on human-robot communication. Then, the ten desiderata are examined in detail, culminating to a unifying discussion, and a forward-looking conclusion

Task planning using physics-based heuristics on manipulation actions

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a modified version of the Fast-Forward task planner that is guided by physics-based knowledge. The proposal uses manipulation knowledge for reasoning on symbolic literals (both in offline and online modes) taking into account geometric information in order to evaluate the applicability as well as feasibility of actions while evaluating the heuristic cost. It results in an efficient search of the state space and in the obtention of low-cost physically-feasible plans. The proposal has been implemented and is illustrated with a manipulation problem consisting of a mobile robot and some fixed and manipulatable objects.Peer ReviewedPostprint (author's final draft