Abstract
I propose a formal model of the sensorimotor loop and discuss corresponding extrinsic embodiment constraints and the intrinsic degrees of freedom. These degrees constitute the basis for adaptation in terms of learning and should therefore be coupled with the embodiment constraints. Notions of sufficiency and embodied universal approximation allow us to formulate principles for such a coupling. This provides a geometric approach to the design of control architectures for embodied agents.
Highlights
Within the last few decades, it has become clear that an understanding of intelligence and cognition has to take into account the fact that behaving agents are embodied and situated [9, 19]
In order to approach a general theory of embodied agents, I have introduced a formal model of the sensorimotor loop, which specifies its intrinsic and extrinsic mechanisms, building on previous work [7, 13]
The extrinsic mechanisms represent the embodiment constraints of the system which can be utilised by appropriate adjustment of the intrinsic mechanisms in order to express useful behaviours
Summary
Within the last few decades, it has become clear that an understanding of intelligence and cognition has to take into account the fact that behaving agents are embodied and situated [9, 19] At first sight this might appear like an obvious and unimportant observation. I want to formally address the tight connection between the control architecture and the embodiment of an agent in terms of geometry, in particular information geometry [1, 3]. The architecture should be sufficient for the expression of desired behaviours, given the embodiment constraints. The world appears as a black box which contains the agent’s body and its environment Sensorimotor mechanisms and their generation of behaviour, which takes place in the world, are formalised.
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