Platonic model of mind as an approximation to neurodynamics

Hierarchy of approximations involved in simplification of microscopic theories, from sub-cellural to the whole brain level, is presented. A new approximation to neural dynamics is described, leading to a Platonic-like model of mind based on psychological spaces. Objects and events in these spaces correspond to quasi-stable states of brain dynamics and may be interpreted from psychological point of view. Platonic model bridges the gap between neurosciences and psychological sciences. Static and dynamic versions of this model are outlined and Feature Space Mapping, a neurofuzzy realization of the static version of Platonic model, described. Categorization experiments with human subjects are analyzed from the neurodynamical and Platonic model points of view

A survey of visual preprocessing and shape representation techniques

Many recent theories and methods proposed for visual preprocessing and shape representation are summarized. The survey brings together research from the fields of biology, psychology, computer science, electrical engineering, and most recently, neural networks. It was motivated by the need to preprocess images for a sparse distributed memory (SDM), but the techniques presented may also prove useful for applying other associative memories to visual pattern recognition. The material of this survey is divided into three sections: an overview of biological visual processing; methods of preprocessing (extracting parts of shape, texture, motion, and depth); and shape representation and recognition (form invariance, primitives and structural descriptions, and theories of attention)

The influence of external and internal motor processes on human auditory rhythm perception

Musical rhythm is composed of organized temporal patterns, and the processes underlying rhythm perception are found to engage both auditory and motor systems. Despite behavioral and neuroscience evidence converging to this audio-motor interaction, relatively little is known about the effect of specific motor processes on auditory rhythm perception. This doctoral thesis was devoted to investigating the influence of both external and internal motor processes on the way we perceive an auditory rhythm. The first half of the thesis intended to establish whether overt body movement had a facilitatory effect on our ability to perceive the auditory rhythmic structure, and whether this effect was modulated by musical training. To this end, musicians and non-musicians performed a pulse-finding task either using natural body movement or through listening only, and produced their identified pulse by finger tapping. The results showed that overt movement benefited rhythm (pulse) perception especially for non-musicians, confirming the facilitatory role of external motor activities in hearing the rhythm, as well as its interaction with musical training. The second half of the thesis tested the idea that indirect, covert motor input, such as that transformed from the visual stimuli, could influence our perceived structure of an auditory rhythm. Three experiments examined the subjectively perceived tempo of an auditory sequence under different visual motion stimulations, while the auditory and visual streams were presented independently of each other. The results revealed that the perceived auditory tempo was accordingly influenced by the concurrent visual motion conditions, and the effect was related to the increment or decrement of visual motion speed. This supported the hypothesis that the internal motor information extracted from the visuomotor stimulation could be incorporated into the percept of an auditory rhythm. Taken together, the present thesis concludes that, rather than as a mere reaction to the given auditory input, our motor system plays an important role in contributing to the perceptual process of the auditory rhythm. This can occur via both external and internal motor activities, and may not only influence how we hear a rhythm but also under some circumstances improve our ability to hear the rhythm.Musikalische Rhythmen bestehen aus zeitlich strukturierten Mustern akustischer Stimuli. Es konnte gezeigt werden, dass die Prozesse, welche der Rhythmuswahrnehmung zugrunde liegen, sowohl motorische als auch auditive Systeme nutzen. Obwohl sich für diese auditiv-motorischen Interaktionen sowohl in den Verhaltenswissenschaften als auch Neurowissenschaften übereinstimmende Belege finden, weiß man bislang relativ wenig über die Auswirkungen spezifischer motorischer Prozesse auf die auditive Rhythmuswahrnehmung. Diese Doktorarbeit untersucht den Einfluss externaler und internaler motorischer Prozesse auf die Art und Weise, wie auditive Rhythmen wahrgenommen werden. Der erste Teil der Arbeit diente dem Ziel herauszufinden, ob körperliche Bewegungen es dem Gehirn erleichtern können, die Struktur von auditiven Rhythmen zu erkennen, und, wenn ja, ob dieser Effekt durch ein musikalisches Training beeinflusst wird. Um dies herauszufinden wurde Musikern und Nichtmusikern die Aufgabe gegeben, innerhalb von präsentierten auditiven Stimuli den Puls zu finden, wobei ein Teil der Probanden währenddessen Körperbewegungen ausführen sollte und der andere Teil nur zuhören sollte. Anschließend sollten die Probanden den gefundenen Puls durch Finger-Tapping ausführen, wobei die Reizgaben sowie die Reaktionen mittels eines computerisierten Systems kontrolliert wurden. Die Ergebnisse zeigen, dass offen ausgeführte Bewegungen die Wahrnehmung des Pulses vor allem bei Nichtmusikern verbesserten. Diese Ergebnisse bestätigen, dass Bewegungen beim Hören von Rhythmen unterstützend wirken. Außerdem zeigte sich, dass hier eine Wechselwirkung mit dem musikalischen Training besteht. Der zweite Teil der Doktorarbeit überprüfte die Idee, dass indirekte, verdeckte Bewegungsinformationen, wie sie z.B. in visuellen Stimuli enthalten sind, die wahrgenommene Struktur von auditiven Rhythmen beeinflussen können. Drei Experimente untersuchten, inwiefern das subjektiv wahrgenommene Tempo einer akustischen Sequenz durch die Präsentation unterschiedlicher visueller Bewegungsreize beeinflusst wird, wobei die akustischen und optischen Stimuli unabhängig voneinander präsentiert wurden. Die Ergebnisse zeigten, dass das wahrgenommene auditive Tempo durch die visuellen Bewegungsinformationen beeinflusst wird, und dass der Effekt in Verbindung mit der Zunahme oder Abnahme der visuellen Geschwindigkeit steht. Dies unterstützt die Hypothese, dass internale Bewegungsinformationen, welche aus visuomotorischen Reizen extrahiert werden, in die Wahrnehmung eines auditiven Rhythmus integriert werden können. Zusammen genommen, 5 zeigt die vorgestellte Arbeit, dass unser motorisches System eine wichtige Rolle im Wahrnehmungsprozess von auditiven Rhythmen spielt. Dies kann sowohl durch äußere als auch durch internale motorische Aktivitäten geschehen, und beeinflusst nicht nur die Art, wie wir Rhythmen hören, sondern verbessert unter bestimmten Bedingungen auch unsere Fähigkeit Rhythmen zu identifizieren

MaestROB: A Robotics Framework for Integrated Orchestration of Low-Level Control and High-Level Reasoning

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a hierarchical structure by using the knowledge stored in the forms of ontology and rules for bridging among different levels of instructions. Accordingly, the framework has multiple layers of processing components; perception and actuation control at the low level, symbolic planner and Watson APIs for cognitive capabilities and semantic understanding, and orchestration of these components by a new open source robot middleware called Project Intu at its core. We show how this framework can be used in a complex scenario where multiple actors (human, a communication robot, and an industrial robot) collaborate to perform a common industrial task. Human teaches an assembly task to Pepper (a humanoid robot from SoftBank Robotics) using natural language conversation and demonstration. Our framework helps Pepper perceive the human demonstration and generate a sequence of actions for UR5 (collaborative robot arm from Universal Robots), which ultimately performs the assembly (e.g. insertion) task.Comment: IEEE International Conference on Robotics and Automation (ICRA) 2018. Video: https://www.youtube.com/watch?v=19JsdZi0TW

Six challenges for embodiment research

20 years after Barsalou's seminal perceptual symbols paper (Barsalou, 1999), embodied cognition, the notion that cognition involves simulations of sensory, motor, or affective states, has moved in status from an outlandish proposal advanced by a fringe movement in psychology to a mainstream position adopted by large numbers of researchers in the psychological and cognitive (neuro)sciences. While it has generated highly productive work in the cognitive sciences as a whole, it had a particularly strong impact on research into language comprehension. The view of a mental lexicon based on symbolic word representations, which are arbitrarily linked to sensory aspects of their referents, for example, was generally accepted since the cognitive revolution in the 1950s. This has radically changed. Given the current status of embodiment as a main theory of cognition, it is somewhat surprising that a close look at the state of the affairs in the literature reveals that the debate about the nature of the processes involved in language comprehension is far from settled and key questions remain unanswered. We present several suggestions for a productive way forward

Motion Mapping Cognition: A Nondecomposable Primary Process in Human Vision

Human intelligence seems so mysterious that we have not successfully understood its foundation until now. Here, I want to present a basic cognitive process, motion mapping cognition (MMC), which should be a nondecomposable primary function in human vision. Wherein, I point out that, MMC process can be used to explain most of human visual functions in fundamental, but can not be effectively modelled by traditional visual processing ways including image segmentation, object recognition, object tracking etc. Furthermore, I state that MMC may be looked as an extension of Chen's theory of topological perception on human vision, and seems to be unsolvable using existing intelligent algorithm skills. Finally, along with the requirements of MMC problem, an interesting computational model, quantized topological matching principle can be derived by developing the idea of optimal transport theory. Above results may give us huge inspiration to develop more robust and interpretable machine vision models.Comment: 7 pages, 3 figure

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task

Ongoing Emergence: A Core Concept in Epigenetic Robotics

We propose ongoing emergence as a core concept in epigenetic robotics. Ongoing emergence refers to the continuous development and integration of new skills and is exhibited when six criteria are satisfied: (1) continuous skill acquisition, (2) incorporation of new skills with existing skills, (3) autonomous development of values and goals, (4) bootstrapping of initial skills, (5) stability of skills, and (6) reproducibility. In this paper we: (a) provide a conceptual synthesis of ongoing emergence based on previous theorizing, (b) review current research in epigenetic robotics in light of ongoing emergence, (c) provide prototypical examples of ongoing emergence from infant development, and (d) outline computational issues relevant to creating robots exhibiting ongoing emergence

How active perception and attractor dynamics shape perceptual categorization: A computational model

We propose a computational model of perceptual categorization that fuses elements of grounded and sensorimotor theories of cognition with dynamic models of decision-making. We assume that category information consists in anticipated patterns of agent–environment interactions that can be elicited through overt or covert (simulated) eye movements, object manipulation, etc. This information is firstly encoded when category information is acquired, and then re-enacted during perceptual categorization. The perceptual categorization consists in a dynamic competition between attractors that encode the sensorimotor patterns typical of each category; action prediction success counts as ‘‘evidence’’ for a given category and contributes to falling into the corresponding attractor. The evidence accumulation process is guided by an active perception loop, and the active exploration of objects (e.g., visual exploration) aims at eliciting expected sensorimotor patterns that count as evidence for the object category. We present a computational model incorporating these elements and describing action prediction, active perception, and attractor dynamics as key elements of perceptual categorizations. We test the model in three simulated perceptual categorization tasks, and we discuss its relevance for grounded and sensorimotor theories of cognition.Peer reviewe