A Developmental Organization for Robot Behavior

This paper focuses on exploring how learning and development can be structured in synthetic (robot) systems. We present a developmental assembler for constructing reusable and temporally extended actions in a sequence. The discussion adopts the traditions of dynamic pattern theory in which behavior is an artifact of coupled dynamical systems with a number of controllable degrees of freedom. In our model, the events that delineate control decisions are derived from the pattern of (dis)equilibria on a working subset of sensorimotor policies. We show how this architecture can be used to accomplish sequential knowledge gathering and representation tasks and provide examples of the kind of developmental milestones that this approach has already produced in our lab

High-Performance Transactional Event Processing

Abstract. This paper presents a transactional framework for low-latency, high-performance, concurrent event processing in Java. At the heart of our framework lies Reflexes, a restricted programming model for highly responsive systems. A Reflex task is an event processor that can run at a higher priority and preempt any other Java thread, including the garbage collector. It runs in an obstruction-free manner with time-oblivious code. We extend Reflexes with a publish/subscribe communication system, itself based on an optimistic transactional event processing scheme, that provides efficient coordination between time-critical, low-latency tasks.We report on the comparison with a commercial JVM, and show that it is possible for tasks to achieve 50 µs response times with way less than 1% of the executions failing to meet their deadlines.

Respiratory, postural and spatio-kinetic motor stabilization, internal models, top-down timed motor coordination and expanded cerebello-cerebral circuitry: a review

Human dexterity, bipedality, and song/speech vocalization in Homo are reviewed within a motor evolution perspective in regard to 

(i) brain expansion in cerebello-cerebral circuitry, 
(ii) enhanced predictive internal modeling of body kinematics, body kinetics and action organization, 
(iii) motor mastery due to prolonged practice, 
(iv) task-determined top-down, and accurately timed feedforward motor adjustment of multiple-body/artifact elements, and 
(v) reduction in automatic preflex/spinal reflex mechanisms that would otherwise restrict such top-down processes. 

Dual-task interference and developmental neuroimaging research argues that such internal modeling based motor capabilities are concomitant with the evolution of 
(vi) enhanced attentional, executive function and other high-level cognitive processes, and that 
(vii) these provide dexterity, bipedality and vocalization with effector nonspecific neural resources. 

The possibility is also raised that such neural resources could 
(viii) underlie human internal model based nonmotor cognitions. 
&#xa

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 217, March 1981

Approximately 130 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1981 are included in this bibliography. Topics include aerospace medicine and biology

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

Review of Making the Social World by John Searle (2010) (review revised 2019)

Before commenting in detail on making the Social World (MSW) I will first offer some comments on philosophy (descriptive psychology) and its relationship to contemporary psychological research as exemplified in the works of Searle (S) and Wittgenstein (W), since I feel that this is the best way to place Searle or any commentator on behavior, in proper perspective. It will help greatly to see my reviews of PNC, TLP, PI, OC, TARW and other books by these two geniuses of descriptive psychology. S makes no reference to W’s prescient statement of mind as mechanism in TLP, and his destruction of it in his later work. Since W, S has become the principal deconstructor of these mechanical views of behavior, and the most important descriptive psychologist (philosopher), but does not realize how completely W anticipated him nor, by and large, do others (but see the many papers and books of Proudfoot and Copeland on W, Turing and AI). S’s work is vastly easier to follow than W’s, and though there is some jargon, it is mostly spectacularly clear if you approach it from the right direction. See my reviews of W S and other books for more details. Overall, MSW is a good summary of the many substantial advances over Wittgenstein resulting from S’s half century of work, but in my view, W still is unequaled for basic psychology once you grasp what he is saying (see my reviews). Ideally, they should be read together: Searle for the clear coherent prose and generalizations on the operation of S2/S3, illustrated with W’s perspicacious examples of the operation of S1/S2, and his brilliant aphorisms. If I were much younger I would write a book doing exactly that. Those wishing a comprehensive up to date framework for human behavior from the modern two systems view may consult my book ‘The Logical Structure of Philosophy, Psychology, Mind and Language in Ludwig Wittgenstein and John Searle’ 2nd ed (2019). Those interested in more of my writings may see ‘Talking Monkeys--Philosophy, Psychology, Science, Religion and Politics on a Doomed Planet--Articles and Reviews 2006-2019 3rd ed (2019), The Logical Structure of Human Behavior (2019), and Suicidal Utopian Delusions in the 21st Century 4th ed (2019

Mixing representation levels: The hybrid approach to automatic text generation

Natural language generation systems (NLG) map non-linguistic representations into strings of words through a number of steps using intermediate representations of various levels of abstraction. Template based systems, by contrast, tend to use only one representation level, i.e. fixed strings, which are combined, possibly in a sophisticated way, to generate the final text. In some circumstances, it may be profitable to combine NLG and template based techniques. The issue of combining generation techniques can be seen in more abstract terms as the issue of mixing levels of representation of different degrees of linguistic abstraction. This paper aims at defining a reference architecture for systems using mixed representations. We argue that mixed representations can be used without abandoning a linguistically grounded approach to language generation.Comment: 6 page