相关论文: Quantifying Morphological Computation
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
One aspect of intelligence is the ability to restructure your own environment so that the world you live in becomes more beneficial to you. In this paper we investigate how the information-theoretic measure of agent empowerment can provide…
The intertwined processes of learning and evolution in complex environmental niches have resulted in a remarkable diversity of morphological forms. Moreover, many aspects of animal intelligence are deeply embodied in these evolved…
Traditionally, cognition has been considered a uniquely human capability involving perception, memory, learning, reasoning, and problem-solving. However, recent research shows that cognition is a fundamental ability shared by all living…
Embodied artificial intelligence emphasizes the role of an agent's body in generating human-like behaviors. The recent efforts on EmbodiedAI pay a lot of attention to building up machine learning models to possess perceiving, planning, and…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
The concept of an embodied intelligent agent is a key concept in modern artificial intelligence and robotics. Physically, an agent is an open system embedded in an environment that it interacts with through sensors and actuators. It…
Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…
This work examines the interconnections between logic, epistemology, and sciences within the Naturalist tradition. It presents a scheme that connects logic, mathematics, physics, chemistry, biology, and cognition, emphasizing…
What does it mean to claim that a physical or natural system computes? One answer, endorsed here, is that computing is about programming a system to behave in different ways. This paper offers an account of what it means for a physical…
Recent advances in neurosciences and psychology have provided evidence that affective phenomena pervade intelligence at many levels, being inseparable from the cognitionaction loop. Perception, attention, memory, learning, decisionmaking,…
The relationship between intelligence and evolution is bidirectional: while evolution can help evolve intelligences, the degree of intelligence itself can impact evolution (Baldwin, 1896). In the field of Evolutionary Computation, the…
Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems…
Embodied intelligence posits that cognitive capabilities fundamentally emerge from - and are shaped by - an agent's real-time sensorimotor interactions with its environment. Such adaptive behavior inherently requires continuous inference…
The EmbodiedQA is a task of training an embodied agent by intelligently navigating in a simulated environment and gathering visual information to answer questions. Existing approaches fail to explicitly model the mental imagery function of…
As the application of Embodied AI Agents in avatars, wearable devices, and robotic systems continues to deepen, their core research challenges have gradually shifted from physical environment interaction to the accurate understanding of…
In this paper, we will argue that if we want to understand the function of the brain (or the control in the case of robots), we must understand how the brain is embedded into the physical system, and how the organism interacts with the real…
One of the hallmarks of biological organisms is their ability to integrate disparate information sources to optimize their behavior in complex environments. How this capability can be quantified and related to the functional complexity of…
The presence of symmetries imposes a stringent set of constraints on a system. This constrained structure allows intelligent agents interacting with such a system to drastically improve the efficiency of learning and generalization, through…
Simultaneously evolving morphologies (bodies) and controllers (brains) of robots can cause a mismatch between the inherited body and brain in the offspring. To mitigate this problem, the addition of an infant learning period by the…