From the Publisher:
The old opposition of matter versus mind stubbornly persists in the way we study mind and brain. In treating cognition as problem solving, Andy Clark suggests, we may often abstract too far from the very body and world in which our brains evolved to guide us. Whereas the mental has been treated as a realm that is distinct from the body and the world, Clark forcefully attests that a key to understanding brains is to see them as controllers of embodied activity. From this paradigm shift he advances the construction of a cognitive science of the embodied mind.

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Being There: Putting Brain, Body, and World Together Again

Traditional approaches to human information processing tend to deal with perception and action planning in isolation, so that an adequate account of the perception-action interface is still missing On the perceptual side, the dominant cognitive view largely underestimates, and thus fails to account for, the impact of action-related processes on both the processing of perceptual information and on perceptual learning On the action side, most approaches conceive of action planning as a mere continuation of stimulus processing, thus failing to account for the goal-directedness of even the simplest reaction in an experimental task We propose a new framework for a more adequate theoretical treatment of perception and action planning, in which perceptual contents and action plans are coded in a common representational medium by feature codes with distal reference Perceived events (perceptions) and to-be-produced events (actions) are equally represented by integrated, task-tuned networks of feature codes – cognitive structures we call event codes We give an overview of evidence from a wide variety of empirical domains, such as spatial stimulus-response compatibility, sensorimotor synchronization, and ideomotor action, showing that our main assumptions are well supported by the data

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/S0140525X01000103

The Theory of Event Coding (TEC): a framework for perception and action planning.

It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.

/pdf/series-elastic-actuators-2f8q6xoik0.pdf

Series elastic actuators

The computational brain: Patricia S. Churchland and Terrence J. Sejnowski (MIT Press, Cambridge, MA, 1992); xi, 544 pages, $39.95

The Web harbors a large number of communities — groups of content-creators sharing a common interest — each of which manifests itself as a set of interlinked Web pages. Newgroups and commercial Web directories together contain of the order of 20,000 such communities; our particular interest here is on emerging communities — those that have little or no representation in such fora. The subject of this paper is the systematic enumeration of over 100,000 such emerging communities from a Web crawl: we call our process trawling. We motivate a graph-theoretic approach to locating such communities, and describe the algorithms, and the algorithmic engineering necessary to find structures that subscribe to this notion, the challenges in handling such a huge data set, and the results of our experiment. © 1999 Published by Elsevier Science B.V. All rights reserved.

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Trawling the Web for emerging cyber-communities

We describe a project to capitalize on newly available levels of computational resources in order to understand human cognition. We will build an integrated physical system including vision, sound input and output, and dextrous manipulation, all controlled by a continuously operating large scale parallel MIMD computer. The resulting system will learn to ``think'''' by building on its bodily experiences to accomplish progressively more abstract tasks. Past experience suggests that in attempting to build such an integrated system we will have to fundamentally change the way artificial intelligence, cognitive science, linguistics, and philosophy think about the organization of intelligence. We expect to be able to better reconcile the theories that will be developed with current work in neuroscience.

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Building brains for bodies

Traditional Information Retrieval (IR) systems are designed to provide uniform access to centralized corpora by large numbers of people. The Haystack project emphasizes the relationship between a particular individual and his corpus. An individual's own haystack priviliges information with which that user interacts, gathers data about those interactions, and uses this metadata to further personalize the retrieval process. This paper describes the prototype Haystack system.

/pdf/haystack-per-user-information-environments-am04ob7yku.pdf

Haystack: per-user information environments

All intelligence relies on search — for example, the search for an intelligent agent’s next action. Search is only likely to succeed in resource-bounded agents if they have already been biased towards finding the right answer. In artificial agents, the primary source of bias is engineering. This dissertation describes an approach, Behavior-Oriented Design (BOD) for engineering complex agents. A complex agent is one that must arbitrate between potentially conflicting goals or behaviors. Behavior-oriented design builds on work in behavior-based and hybrid architectures for agents, and the object oriented approach to software engineering. The primary contributions of this dissertation are: 1. The BOD architecture: a modular architecture with each module providing specialized representations to facilitate learning. This includes one pre-specified module and representation for action selection or behavior arbitration. The specialized representation underlying BOD action selection is Parallel-rooted, Ordered, Slip-stack Hierarchical (POSH) reactive plans. 2. The BOD development process: an iterative process that alternately scales the agent’s capabilities then optimizes the agent for simplicity, exploiting tradeoffs between the component representations. This ongoing process for controlling complexity not only provides bias for the behaving agent, but also facilitates its maintenance and extendibility. The secondary contributions of this dissertation include two implementations of POSH action selection, a procedure for identifying useful idioms in agent architectures and using them to distribute knowledge across agent paradigms, several examples of applying BOD idioms to established architectures, an analysis and comparison of the attributes and design trends of a large number of agent architectures, a comparison of biological (particularly mammalian) intelligence to artificial agent architectures, a novel model of primate transitive inference, and many other examples of BOD agents and BOD development. Thesis Supervisor: Lynn Andrea Stein Title: Associate Professor of Computer Science

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Intelligence by design: principles of modularity and coordination for engineering complex adaptive agents

This paper explores the role of the traditional computational metaphor in our thinking as computer scientists, its influence on epistemological styles, and its implications for our understanding of cognition. It proposes to replace the conventional metaphor a sequence of steps with the notion of a community of interacting entities, and examines the ramifications of such a shift on these various ways in which we think.

/pdf/challenging-the-computational-metaphor-implications-for-how-1zcilx7zge.pdf

Challenging the computational metaphor: implications for how we think

Software design is the hardest part of creating intelligent agents. Therefore agent architectures should be optimized as design tools. This paper presents an architectural synthesis between the three-layer architectures which dominate autonomous robotics and virtual reality, and a more agent-oriented approach to viewing behavior modules. We provide an approach, Behavior Oriented Design (BOD), for rapid, maintainable development. We demonstrate our approach by modeling primate learning.

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Lynn Andrea Stein

Papers

Building brains for bodies

Haystack: per-user information environments

Intelligence by design: principles of modularity and coordination for engineering complex adaptive agents

Challenging the computational metaphor: implications for how we think

Modularity and design in reactive intelligence