Quantifying morphological computation

DOI10.3390/E15051887MaRDI QIDQ742729zbMATH OpenOpenAlexFDO

Authors Keyan Zahedi, Nihat Ay

Publication date 19 September 2014

Published in Entropy (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1301.6975

zbMATH Keywords

embodied artificial intelligenceinformation bottleneck methodinformation theorymorphological computationsensori-motor loop

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40)

Abstract: The field of embodied intelligence emphasises the importance of the morphology and environment with respect to the behaviour of a cognitive system. The contribution of the morphology to the behaviour, commonly known as morphological computation, is well-recognised in this community. We believe that the field would benefit from a formalisation of this concept as we would like to ask how much the morphology and the environment contribute to an embodied agent's behaviour, or how an embodied agent can maximise the exploitation of its morphology within its environment. In this work we derive two concepts of measuring morphological computation, and we discuss their relation to the Information Bottleneck Method. The first concepts asks how much the world contributes to the overall behaviour and the second concept asks how much the agent's action contributes to a behaviour. Various measures are derived from the concepts and validated in two experiments which highlight their strengths and weaknesses.

Review text

Summary: The field of embodied intelligence emphasises the importance of the morphology and environment with respect to the behaviour of a cognitive system. The contribution of the morphology to the behaviour, commonly known as morphological computation, is well-recognised in this community. We believe that the field would benefit from a formalisation of this concept as we would like to ask how much the morphology and the environment contribute to an embodied agent's behaviour, or how an embodied agent can maximise the exploitation of its morphology within its environment. In this work we derive two concepts of measuring morphological computation, and we discuss their relation to the Information Bottleneck Method. The first concepts asks how much the world contributes to the overall behaviour and the second concept asks how much the agent's action contributes to a behaviour. Various measures are derived from the concepts and validated in two experiments that highlight their strengths and weaknesses.

Recommendations

• Towards a theoretical foundation for morphological computation with compliant bodies
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Cites work

• INFORMATION FLOWS IN CAUSAL NETWORKS
• Towards a theoretical foundation for morphological computation with compliant bodies

Cited in

(5)

• The role of feedback in morphological computation with compliant bodies
• Metric-Driven Grammars and Morphogenesis (Extended Abstract)
• Morphological Perceptrons: Geometry and Training Algorithms
• Computer vision and otolith: toward a modelisation of the morphogenesis of accretionary processes
• Towards a theoretical foundation for morphological computation with compliant bodies

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