CS206 Evolutionary Robotics

“Cogito ergo sum.”

CS206 Evolutionary Robotics

“Cogito ergo sum.”

“I think, therefore I am.”

“Do I exist?”

“There is something that is asking the question,Because there is an “I” in the sentence.

Whatever that “I” thing is, it exists.”

The soul(/mind) surely exists;the body, I’m not so sure about.

So the soul(/mind) and body are different.

Cartesian Dualism; “The Mind/Body Problem”

Information in red boxesis not on the uploaded slides.

We tend to think input first, then information processing, then output.

The very definition of a computer relies on this notion of input first, then processing,then output.

Turing Machine (1936)

Q: Give a brief definition of a Turing machine.

CS206 Evolutionary Robotics

A:

CS206 Evolutionary Robotics

The Dartmouth Summer Research Conference on Artificial Intelligence (1956)[Origin of the word “artificial intelligence”]

Proposal: “We propose that a 2 month, 10 man study of artificial intelligence be carried out during the summer of 1956 at Dartmouth College in Hanover, New Hampshire. The study is to proceed on the basis of the conjecture that

every aspect of learning or any other feature of intelligence can in principle be so precisely described that a machine can be made to simulate it.

An attempt will be made to find how to make machines use language, form abstractions and concepts, solve kinds of problems now reserved for humans, and

improve themselves.

We think that a significant advance can be made in one or more of these problems if a carefully selected group of scientists work on it together for a summer.”

(reproduce?)

CS206 Evolutionary Robotics

The Dartmouth Summer Research Conference on Artificial Intelligence (1956)[Origin of the word “artificial intelligence”]

Attendees: John McCarthyMarvin Minsky

Nathaniel RochesterClaude ShannonRay SolomonoffOliver Selfridge

Trenchard MoreArthur Samuel

Herbert Simon, andAllen Newell

CS206 Evolutionary Robotics

Goals of Artificial Intelligence:(p. 17, How The Body…)

(1) Understand biological systems.E.g., how do simple animals translate

the detection of lightinto phototaxis (moving toward light sources)?

(2) Abstraction of the general principles of intelligent behavior.

(3) Apply these principles to create intelligent artifacts.

An example of classical Artificial Intelligence: ELIZA

Created by Joseph Weizenbaum between 1964 to 1966

Internet chatbots

CS206 Evolutionary Robotics

Sample ELIZA Rule: User: “I [verb] [proper noun]” ELIZA: “Why do you [verb] [proper noun]?”

Q: Other candidate rules?

Turing Machine: Abstract description of a minimal computer.

Turing Test: If a computer can make a human think it is intelligent,it is intelligent.

CS206 Evolutionary Robotics

CS206 Evolutionary Robotics

Valentino Braitenberg, VehiclesSource Material: http://www.bcp.psych.ualberta.ca/~mike/Pearl_Street/Margin/Vehicles/index.html

Introduces a series of (hypothetical) simple robots that seem,to the outside observer, to exhibit complex behavior.

The complex behavior does not come from a complex brain, but from a simple agent interacting with a rich environment.

Vehicle 1: Getting aroundA single sensor is attached to a single motor.Propulsion of the motor is proportional to the signaldetected by the sensor.The vehicle will always move in a straight line,slowing down in the cold, speeding up in the warm.

Braitenberg: “Imagine, now, what you would think if you saw such a vehicle swimming around in a pond. It is restless, you would say, and does not like warm water. But it is quite stupid, since it is not able to turn back to the nice cold sport it overshot in its restless ness. Anyway, you would say, it is ALIVE, since you have never seen a particle of dead matter move around quite like that.”

CS206 Evolutionary Robotics

Valentino Braitenberg, Vehicles

Vehicle series 2: Fear and aggressionEach vehicle has two sensors and two motors.Still a directly proportionate relationship betweenthe signal strength and force of the motor.

The AggressorLeft sensor is attached to the right motor;right sensor is attached to the left motor;Will charge the light if it’s dead-ahead;Will charge the light if it’s off to the side;Will eventually hit it, as long as the light stays in the vicinity.

CS206 Evolutionary Robotics

Valentino Braitenberg, Vehicles

Vehicle series 2: Fear and aggressionEach vehicle has two sensors and two motors.Still a directly proportionate relationship betweenthe signal strength and force of the motor.

The ?Left sensor is attached to the left motor;right sensor is attached to the right motor…

Q: How will this vehicle behave?

CS206 Evolutionary Robotics

Connectionism (1980s): Networks, rather than IF/ELSE statements

CS206 Evolutionary Robotics

Sample ELIZA Rule: IF User: “I [verb] [proper noun]”, THEN: ELIZA: “Why do you [verb] [proper noun]?”

Sensor 1 Sensor 2

Motor 1 Motor 2

Input 1 Input 2

Output 1 Output 2

Artificial Neural Networksfor robots

Artificial Neural Networksfor problem solving

Neural networksin animals

Sensory signals

Muscle commands

CS206 Evolutionary Robotics

ArtificialIntelligence

ComputationalNeuroscience

MachineLearning

DataMining

Robotics

Evolutionary Robotics

Connectionism

ArtificialLife

DevelopmentalRobotics

Biorobotics

SwarmRobotics

EvolutionaryComputation

IndustrialRobotics