Learning and Acting in Peripersonal Space: Moving, Reaching, and Grasping

The young infant explores its body, its sensorimotor system, and the immediately accessible parts of its environment, over the course of a few months creating a model of peripersonal space useful for reaching and grasping objects around it. Drawing on constraints from the empirical literature on infant behavior, we present a preliminary computational model of this learning process, implemented and evaluated on a physical robot. The learning agent explores the relationship between the configuration space of the arm, sensing joint angles through proprioception, and its visual perceptions of the hand and grippers. The resulting knowledge is represented as the peripersonal space (PPS) graph, where nodes represent states of the arm, edges represent safe movements, and paths represent safe trajectories from one pose to another. In our model, the learning process is driven by intrinsic motivation. When repeatedly performing an action, the agent learns the typical result, but also detects unusual outcomes, and is motivated to learn how to make those unusual results reliable. Arm motions typically leave the static background unchanged, but occasionally bump an object, changing its static position. The reach action is learned as a reliable way to bump and move an object in the environment. Similarly, once a reliable reach action is learned, it typically makes a quasi-static change in the environment, moving an object from one static position to another. The unusual outcome is that the object is accidentally grasped (thanks to the innate Palmar reflex), and thereafter moves dynamically with the hand. Learning to make grasps reliable is more complex than for reaches, but we demonstrate significant progress. Our current results are steps toward autonomous sensorimotor learning of motion, reaching, and grasping in peripersonal space, based on unguided exploration and intrinsic motivation.Comment: 35 pages, 13 figure

Language and memory for object location

In three experiments, we investigated the influence of two types of language on memory for object location: demonstratives (this, that) and possessives (my, your). Participants first read instructions containing demonstratives/possessives to place objects at different locations, and then had to recall those object locations (following object removal). Experiments 1 and 2 tested contrasting predictions of two possible accounts of language on object location memory: the Expectation Model (Coventry, Griffiths, & Hamilton, 2014) and the congruence account (Bonfiglioli, Finocchiaro, Gesierich, Rositani, & Vescovi, 2009). In Experiment 3, the role of attention allocation as a possible mechanism was investigated. Results across all three experiments show striking effects of language on object location memory, with the pattern of data supporting the Expectation Model. In this model, the expected location cued by language and the actual location are concatenated leading to (mis)memory for object location, consistent with models of predictive coding (Bar, 2009; Friston, 2003)

Transformative spaces in the making: key lessons from nine cases in the Global South

Creating a just and sustainable planet will require not only small changes, but also systemic transformations in how humans relate to the planet and to each other, i.e., social–ecological transformations. We suggest there is a need for collaborative environments where experimentation with new configurations of social–ecological systems can occur, and we refer to these as transformative spaces. In this paper, we seek a better understanding of how to design and enable the creation of transformative spaces in a development context. We analyse nine case studies from a previous special issue on Designing Transformative Spaces that aimed to collect examples of cutting-edge action-oriented research on transformations from the Global South. The analysis showed five design phases as being essential: Problem Definition Phase; Operationalisation Phase; Tactical Phase; Outcome Phase; and Reflection Phase. From this synthesis, we distilled five key messages that should be considered when designing research, including: (a) there are ethical dilemmas associated with creating a transformative space in a system; (b) it is important to assess the readiness of the system for change before engaging in it; (c) there is a need to balance between ‘safe’ and ‘safe-enough’ spaces for transformation; (d) convening a transformative space requires an assemblage of diverse methodological frameworks and tools; and (e) transformative spaces can act as a starting point for institutionalising transformative change. Many researchers are now engaging in transdisciplinary transformations research, and are finding themselves at the knowledge–action interface contributing to transformative space-making. We hope that by analysing experiences from across different geographies we can contribute towards better understanding of how to navigate the processes needed for the urgent global transformations that are being called for to create a more equitable and sustainable planet Earth

Urban food strategies in Central and Eastern Europe: what's specific and what's at stake?

Integrating a larger set of instruments into Rural Development Programmes implied an increasing focus on monitoring and evaluation. Against the highly diversified experience with regard to implementation of policy instruments the Common Monitoring and Evaluation Framework has been set up by the EU Commission as a strategic and streamlined method of evaluating programmes’ impacts. Its indicator-based approach mainly reflects the concept of a linear, measure-based intervention logic that falls short of the true nature of RDP operation and impact capacity on rural changes. Besides the different phases of the policy process, i.e. policy design, delivery and evaluation, the regional context with its specific set of challenges and opportunities seems critical to the understanding and improvement of programme performance. In particular the role of local actors can hardly be grasped by quantitative indicators alone, but has to be addressed by assessing processes of social innovation. This shift in the evaluation focus underpins the need to take account of regional implementation specificities and processes of social innovation as decisive elements for programme performance.

Blurring the Boundaries Citizen Action Across States and Societies

Taking a "citizen's perspective", looking upwards and outwards, these studies offer a unique insight into how citizens see and experience states and other institutions which affect their lives, as well as how they engage, mobilise and participate to make their voices heard

Children in an Urban Tanzania

One in four children being born in today‟s Tanzania is likely to be growing up in an urban area. It is projected to be one in three in the short time span of one generation. Tanzania is more urban than it perceives itself and official figures disclose. Urban Tanzanians feel emotionally rooted in their villages of origin rather than in the cities and towns where one quarter of the total population lives. Urbanisation figures fail to account for extensive high density areas just because they are not officially classified as urban. Despite a persisting rural self-representation, Tanzania is one of the fastest urbanising countries in one of the world‟s fastest urbanising regions. The nearly half urban population aged 0-18 may well be the first truly urbanised generation in the history of the nation.\ud As urbanisation is rapidly transforming the physical, social and economic landscape of the country, how has Tanzania equipped itself to provide adequate water, sanitation, health care, education, protection services to meet the fundamental needs and rights of a swelling number of urban children and communities? National policy and programmatic frameworks still broadly target rural poverty, perceived as the nation‟s core development challenge. Urban poverty, growing alongside urban affluence, remains mainly unaccounted for and, as a result, unaddressed. The condition of poor and marginalised urban groups escapes official urban figures. Standard urban-rural disaggregation generates statistical averages that overshadow sub-municipal disparities. Also poverty lines tend to underestimate actual poverty. Based on mere consumption levels, they disregard living conditions, thus leaving unaccounted for several necessities that poor households are normally forced to acquire through cash purchases in a monetised urban economy. As a result, urban poverty is broadly overlooked and poor urban children, lost in skewed official estimates and tucked away in peripheral unplanned urban fringes, risk remaining invisible in development policy and investments. In-depth analysis based on sub-municipal data is urgently needed to accurately measure urban poverty in its multiple dimensions of income poverty, inadequate access to basic services and powerlessness.\ud The assumption underpinning the limited attention that has been paid to urban poverty is that of an urban advantage. Undoubtedly, cities enjoy an edge over rural areas. Urbanisation drives the development of a whole nation. High population concentration, economies of scale, proximity and agglomeration make cities engines of growth. They offer greater avenues for livelihood and education, and should be expected to afford children better opportunities for survival, growth and development than rural areas. Better economic resources and political visibility hold a potential to offer higher incomes and enhance the scope for the government and the private sector to fund services and infrastructure. Density, favouring economies of scale, promises to favour delivering of essential services.\ud Children, adolescents and youth are attracted to city life, aspiring to access better jobs, higher education and a richer cultural life. Urban areas are also hubs of technological innovation, social exchange and mass communication. Urban children can draw from resources that are denied to rural peers.\ud The urban advantage, however, is being eroded. Provision of social services and infrastructure is failing to keep pace with growing demand being generated by urbanisation.\ud  Availability of basic services, expected to be markedly higher in urban centres as compared to remote rural areas, has been declining. Decreasing urban access to improved sources of drinking water over the past decade epitomises this trend. The traditional urban – rural social sector performance gap has been narrowing against most indicators in the areas of education, health, nutrition, water and sanitation. In some cases gaps have been actually bridged and rural areas are even outperforming urban centres.\ud 7\ud  As urban social sector performance is declining, it is likely that it is the poor, underserviced communities to remain unreached. Although statistical averages prevent any level of sub-municipal analysis, limited data available on access to basic services and health and education outcomes in low-income urban communities suggests that the urban poor may be faring even worse than their rural counterparts.\ud  Urbanisation growth is projected to continue in the future. If the present scenarios are not going to be addressed now, they are likely to deteriorate further. As density increases and unplanned settlements become more congested, investments in social facilities and infrastructure can only be expected to become costlier, both financially and socially.\ud If not properly leveraged, the potential advantage that cities offer can turn into a disadvantage. A concentration of children in areas where services and infrastructure are lacking is a major disadvantage. Children residing in overcrowded and degraded settlements characterised by poorly managed sanitation systems, inadequate provision of safe water, inefficient solid waste management are faced with one of the most life-threatening environments possible – with climate change posed to increase vulnerability further. Such a disadvantage can be daunting in a situation where the overwhelming majority of urban dwellers reside in unplanned settlements, which in Tanzania‟s primate city, Dar es Salaam, are estimated to accommodate over 80 percent of the population, one of the highest proportions in Sub-Saharan Africa.\ud Availability and access are not synonymous. In most cities, availability of basic services does not translate necessarily into access. Higher quality and availability of services needs to be equally distributed across social classes and space to achieve equal access by all citizens. The difference between successfully exploiting the urban advantage and passively reeling under the urban disadvantage can be made by the way access to resources is managed. A competent, accountable and equitable system of local governance can make that difference. Good local governance can help overcome the disparities that still bar access by the poor to safe water and sanitation, quality education, adequate health care and nutrition, affordable transport, secure land tenure and decent housing. Accountable local authorities, proactive communities and enabled children are the key actors in a local governance process leading to the creation of cities friendly to children.\ud Young people are already participating in local governance processes. They are active in children‟s municipal councils, children‟s school councils and other similar institutions. Avenues for child participation needs to be strengthened and opened to all children, not only in institutional settings, but also in families and communities having primary responsibility for children‟s well being. Cities and communities provide the most relevant scale for genuine children‟s participation, where young people can effectively engage in addressing the problems that directly affect them.\ud Though universal human rights and global development goals are set at the international and national levels, it is ultimately in a myriad of local Tanzanian communities that they are expected to be fulfilled – in the family, the school, the ward and ultimately the city. The city government offers an ideal platform for converging a plethora of sectoral interventions independently targeting children and delivering them holistically, at the local level where children live. The horizon of children is local. Within the local dimension, children‟s goals and rights can be met and monitored by duty bearers who have primary responsibility for their fulfilment. If development goals and human rights are not implemented locally, they are likely to remain abstract declarations of intent and sterile. Local authorities, communities, families and children together can transform today‟s child unfriendly urban settings into child-friendly cities – as cities friendly to children are friendly to all

Being-in-the-world-with: Presence Meets Social And Cognitive Neuroscience

In this chapter we will discuss the concepts of “presence” (Inner Presence) and “social presence” (Co-presence) within a cognitive and ecological perspective. Specifically, we claim that the concepts of “presence” and “social presence” are the possible links between self, action, communication and culture. In the first section we will provide a capsule view of Heidegger’s work by examining the two main features of the Heideggerian concept of “being”: spatiality and “being with”. We argue that different visions from social and cognitive sciences – Situated Cognition, Embodied Cognition, Enactive Approach, Situated Simulation, Covert Imitation - and discoveries from neuroscience – Mirror and Canonical Neurons - have many contact points with this view. In particular, these data suggest that our conceptual system dynamically produces contextualized representations (simulations) that support grounded action in different situations. This is allowed by a common coding – the motor code – shared by perception, action and concepts. This common coding also allows the subject for natively recognizing actions done by other selves within the phenomenological contents. In this picture we argue that the role of presence and social presence is to allow the process of self-identification through the separation between “self” and “other,” and between “internal” and “external”. Finally, implications of this position for communication and media studies are discussed by way of conclusion

NGOs and poverty issues in peri-urban areas

Poverty reduction is the top-most element in the Millennium Development Goals (MDGs) set by the United Nations those have provided a broad way for the development planning professionals on the globe to assess their past performance in the important aspects of development planning as well as to plan their strategies for the design period of 2000-2015. The United Nations sees the nations as members of a global family and expects them to work for the fellow-beings setting some guidelines, for instance, ‘The millennium Development Goals can be achieved if immediate steps are taken to implement existing commitment.NGOs, poverty, peri-urban areas