Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Embodied Decisions and the Predictive Brain

Decision-making has traditionally been modelled as a serial process, consisting of a number of distinct stages. The traditional account assumes that an agent first acquires the necessary perceptual evidence, by constructing a detailed inner repre- sentation of the environment, in order to deliberate over a set of possible options. Next, the agent considers her goals and beliefs, and subsequently commits to the best possible course of action. This process then repeats once the agent has learned from the consequences of her actions and subsequently updated her beliefs. Under this interpretation, the agent’s body is considered merely as a means to report the decision, or to acquire the relevant goods. However, embodied cognition argues that an agent’s body should be understood as a proper part of the decision-making pro- cess. Accepting this principle challenges a number of commonly held beliefs in the cognitive sciences, but may lead to a more unified account of decision-making. This thesis explores an embodied account of decision-making using a recent frame- work known as predictive processing. This framework has been proposed by some as a functional description of neural activity. However, if it is approached from an embodied perspective, it can also offer a novel account of decision-making that ex- tends the scope of our explanatory considerations out beyond the brain and the body. We explore work in the cognitive sciences that supports this view, and argue that decision theory can benefit from adopting an embodied and predictive perspective

Active Inference: Applicability to Different Types of Social Organization Explained through Reference to Industrial Engineering and Quality Management

Active inference is a physics of life process theory of perception, action and learning that is applicable to natural and artificial agents. In this paper, active inference theory is related to different types of practice in social organization. Here, the term social organization is used to clarify that this paper does not encompass organization in biological systems. Rather, the paper addresses active inference in social organization that utilizes industrial engineering, quality management, and artificial intelligence alongside human intelligence. Social organization referred to in this paper can be in private companies, public institutions, other for-profit or not-for-profit organizations, and any combination of them. The relevance of active inference theory is explained in terms of variational free energy, prediction errors, generative models, and Markov blankets. Active inference theory is most relevant to the social organization of work that is highly repetitive. By contrast, there are more challenges involved in applying active inference theory for social organization of less repetitive endeavors such as one-of-a-kind projects. These challenges need to be addressed in order for active inference to provide a unifying framework for different types of social organization employing human and artificial intelligence

Applying the Free-Energy Principle to Complex Adaptive Systems

The free energy principle is a mathematical theory of the behaviour of self-organising systems that originally gained prominence as a unified model of the brain. Since then, the theory has been applied to a plethora of biological phenomena, extending from single-celled and multicellular organisms through to niche construction and human culture, and even the emergence of life itself. The free energy principle tells us that perception and action operate synergistically to minimize an organism’s exposure to surprising biological states, which are more likely to lead to decay. A key corollary of this hypothesis is active inference—the idea that all behavior involves the selective sampling of sensory data so that we experience what we expect to (in order to avoid surprises). Simply put, we act upon the world to fulfill our expectations. It is now widely recognized that the implications of the free energy principle for our understanding of the human mind and behavior are far-reaching and profound. To date, however, its capacity to extend beyond our brain—to more generally explain living and other complex adaptive systems—has only just begun to be explored. The aim of this collection is to showcase the breadth of the free energy principle as a unified theory of complex adaptive systems—conscious, social, living, or not

What Might Interoceptive Inference Reveal about Consciousness?

The mainstream science of consciousness offers a few predominate views of how the brain gives rise to awareness. Chief among these are the Higher-Order Thought Theory, Global Neuronal Workspace Theory, Integrated Information Theory, and hybrids thereof. In parallel, rapid development in predictive processing approaches have begun to outline concrete mechanisms by which interoceptive inference shapes selfhood, affect, and exteroceptive perception. Here, we consider these new approaches in terms of what they might offer our empirical, phenomenological, and philosophical understanding of consciousness and its neurobiological roots

Sensorimotor representation learning for an "active self" in robots: A model survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyse what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration

MULTIVARIATE MODELING OF COGNITIVE PERFORMANCE AND CATEGORICAL PERCEPTION FROM NEUROIMAGING DATA

State-of-the-art cognitive-neuroscience mainly uses hypothesis-driven statistical testing to characterize and model neural disorders and diseases. While such techniques have proven to be powerful in understanding diseases and disorders, they are inadequate in explaining causal relationships as well as individuality and variations. In this study, we proposed multivariate data-driven approaches for predictive modeling of cognitive events and disorders. We developed network descriptions of both structural and functional connectivities that are critical in multivariate modeling of cognitive performance (i.e., fluency, attention, and working memory) and categorical perceptions (i.e., emotion, speech perception). We also performed dynamic network analysis on brain connectivity measures to determine the role of different functional areas in relation to categorical perceptions and cognitive events. Our empirical studies of structural connectivity were performed using Diffusion Tensor Imaging (DTI). The main objective was to discover the role of structural connectivity in selecting clinically interpretable features that are consistent over a large range of model parameters in classifying cognitive performances in relation to Acute Lymphoblastic Leukemia (ALL). The proposed approach substantially improved accuracy (13% - 26%) over existing models and also selected a relevant, small subset of features that were verified by domain experts. In summary, the proposed approach produced interpretable models with better generalization.Functional connectivity is related to similar patterns of activation in different brain regions regardless of the apparent physical connectedness of the regions. The proposed data-driven approach to the source localized electroencephalogram (EEG) data includes an array of tools such as graph mining, feature selection, and multivariate analysis to determine the functional connectivity in categorical perceptions. We used the network description to correctly classify listeners behavioral responses with an accuracy over 92% on 35 participants. State-of-the-art network description of human brain assumes static connectivities. However, brain networks in relation to perception and cognition are complex and dynamic. Analysis of transient functional networks with spatiotemporal variations to understand cognitive functions remains challenging. One of the critical missing links is the lack of sophisticated methodologies in understanding dynamics neural activity patterns. We proposed a clustering-based complex dynamic network analysis on source localized EEG data to understand the commonality and differences in gender-specific emotion processing. Besides, we also adopted Bayesian nonparametric framework for segmentation neural activity with a finite number of microstates. This approach enabled us to find the default network and transient pattern of the underlying neural mechanism in relation to categorical perception. In summary, multivariate and dynamic network analysis methods developed in this dissertation to analyze structural and functional connectivities will have a far-reaching impact on computational neuroscience to identify meaningful changes in spatiotemporal brain activities

Machine Learning

Machine Learning can be defined in various ways related to a scientific domain concerned with the design and development of theoretical and implementation tools that allow building systems with some Human Like intelligent behavior. Machine learning addresses more specifically the ability to improve automatically through experience