Outline of a sensory-motor perspective on intrinsically moral agents

This is the accepted version of the following article: Christian Balkenius, Lola Cañamero, Philip Pärnamets, Birger Johansson, Martin V Butz, and Andreas Olson, ‘Outline of a sensory-motor perspective on intrinsically moral agents’, Adaptive Behaviour, Vol 24(5): 306-319, October 2016, which has been published in final form at DOI: https://doi.org/10.1177/1059712316667203 Published by SAGE ©The Author(s) 2016We propose that moral behaviour of artificial agents could (and should) be intrinsically grounded in their own sensory-motor experiences. Such an ability depends critically on seven types of competencies. First, intrinsic morality should be grounded in the internal values of the robot arising from its physiology and embodiment. Second, the moral principles of robots should develop through their interactions with the environment and with other agents. Third, we claim that the dynamics of moral (or social) emotions closely follows that of other non-social emotions used in valuation and decision making. Fourth, we explain how moral emotions can be learned from the observation of others. Fifth, we argue that to assess social interaction, a robot should be able to learn about and understand responsibility and causation. Sixth, we explain how mechanisms that can learn the consequences of actions are necessary for a robot to make moral decisions. Seventh, we describe how the moral evaluation mechanisms outlined can be extended to situations where a robot should understand the goals of others. Finally, we argue that these competencies lay the foundation for robots that can feel guilt, shame and pride, that have compassion and that know how to assign responsibility and blame.Peer reviewedFinal Accepted Versio

Genetic Architecture of Aluminum Tolerance in Rice (Oryza sativa) Determined through Genome-Wide Association Analysis and QTL Mapping

Aluminum (Al) toxicity is a primary limitation to crop productivity on acid soils, and rice has been demonstrated to be significantly more Al tolerant than other cereal crops. However, the mechanisms of rice Al tolerance are largely unknown, and no genes underlying natural variation have been reported. We screened 383 diverse rice accessions, conducted a genome-wide association (GWA) study, and conducted QTL mapping in two bi-parental populations using three estimates of Al tolerance based on root growth. Subpopulation structure explained 57% of the phenotypic variation, and the mean Al tolerance in Japonica was twice that of Indica. Forty-eight regions associated with Al tolerance were identified by GWA analysis, most of which were subpopulation-specific. Four of these regions co-localized with a priori candidate genes, and two highly significant regions co-localized with previously identified QTLs. Three regions corresponding to induced Al-sensitive rice mutants (ART1, STAR2, Nrat1) were identified through bi-parental QTL mapping or GWA to be involved in natural variation for Al tolerance. Haplotype analysis around the Nrat1 gene identified susceptible and tolerant haplotypes explaining 40% of the Al tolerance variation within the aus subpopulation, and sequence analysis of Nrat1 identified a trio of non-synonymous mutations predictive of Al sensitivity in our diversity panel. GWA analysis discovered more phenotype–genotype associations and provided higher resolution, but QTL mapping identified critical rare and/or subpopulation-specific alleles not detected by GWA analysis. Mapping using Indica/Japonica populations identified QTLs associated with transgressive variation where alleles from a susceptible aus or indica parent enhanced Al tolerance in a tolerant Japonica background. This work supports the hypothesis that selectively introgressing alleles across subpopulations is an efficient approach for trait enhancement in plant breeding programs and demonstrates the fundamental importance of subpopulation in interpreting and manipulating the genetics of complex traits in rice