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    The Self Beyond Humans

    Universidad Politcnica de MadridAutonomous Systems Laboratory

    Ricardo Sanz

    Reykjavik UniversityMay 16, 2013

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    Idea

    A prospective analysis of the theory and technology ofself-awareness beyond the anthropomorphic harnesses

    of today's robotics.

    Speculative,

    visionary; probably wrong.

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    There are many research trends that point toward a technology of robot selfhood. Formany reasons, we humans are pursuing the development of selves for robots to equip themwith human-like sophisticated competences. Self and self-awareness constitute one of thecornerstones of consciousness, a whimsically peculiar aspect of our humanhood. Manyattempts to artificial selves are based on the shallow replication of biological behavioraltraits, but a true engineering technology of robot selves cannot be based but on a rigoroustheory of consciousness beyond humans. Humans are the best ground truth we have, thebest example to inspect and imitate, but anthropomorphism is a procrustean path that shallbe followed with care.

    A scientific, general theory of consciousness should be much more than just somescientific progress towards understanding how consciousness can emerge form the activityof neurons and their interactions. While it is clear that human brains are the best source

    of information about consciousness, the construction of a universal, general theory ofconsciousness is strongly hampered by the almost absolute and obviously excessive focuson human brain, human cognition and human neurophysiology. Human brains are not theonly systems to consider in this analysis; a general theory should also address at least themany other systems of interest: all kinds of animals, machines and even social groups.

    In this talk we will address the emergence of a theoretical framework for Self BeyondHumans. This theoretical framework shall eventually lead to technological assets for robotselfhood to enable them to properly operate in ecological, medical, technical and economic

    terms in a variety of circumstances. A positive theory of self shall be centered on systemfunctional architecture, sidetracking philosophical discussions on the nature of 'content andself' and leveraging the value of concrete topologies and measurements.

    Future robots will have selves that may be enormously alien to humans; but, in a veryprecise sense, they will be quite similar to ours but with a deeper, purer essence, devoid ofall that noise produced by biological evolution.

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    Picasso 1906

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    Shutterstock 2011

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    Towards Robo-Self

    There are many research trends that point towards a

    technology of robot selfhood.

    For many reasons, we humans are pursuing the

    development of selves for robots to equip them withhuman-like sophisticated competences.

    Self and self-awareness constitute one of the

    cornerstones of consciousness, a whimsically peculiaraspect of our humanhood.

    However, technological selfhood needs a clearer stance.

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    Four Aspects of Consciousness

    1. Knowingthe world

    2. Experiencingthe world

    3.

    Knowing others minds

    4. Having a self

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    CONTENT

    A Rationale for Machine Selves

    A Brief History of the Self

    Self for Machines

    The Anthropomorphic Trap

    The Self Beyond Humans

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    My Stance

    Im not a philosopher, nor a psychologist nor alinguist

    Im a systems engineer

    This implies that I will not attempt to provide acomplete recension of all that has been said about self

    I will offer only a personal, limited perspective, useful

    for what I want to say concerning real worldmachines

    This vision may have other implications, however

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    A MINI History of the Self

    What is self?

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    Origins of Self

    Early 1600s in the philosophy of Rene Descartes.Cogito Ergo Sum.

    In his pre-secularisation age, he concluded that God

    must have given us all a Cogito.

    This theory offers an image of human self as animmaterial, fixed, unitary thing that we areborn with, and that stays with us throughout our lives

    and even beyond.

    This model has produced a huge impact on the waythat we think about ourselves at least in occident.

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    Each one of us isthe special one.

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    Beyond Descartes

    Hundred years later, materialist, empiricistphilosophers (Hume, LaMettrie, Diderot, ) argue

    that the human mind is a product of experience,a material thing made of brain matter, not an

    immaterial, fixed unitary thing that we are born with.

    Hofstadter describes it as that special kind of subtlepattern that grows as we live and learn and that he

    calls a strange loop.

    Others say: a class of being, a unique percept, a focus,a mirror, everything that is, nothing but a mirage, ...

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    I in the Mirror

    The mirror test, Gallup 1970

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    Categories of Biological Self

    Core-Self: A transient entity; recreated for eachobject with which the brain interacts.

    Proto-Self: A representation of core self in a second

    order neural map (an image).

    Autobiographic Self: Permanent dispositional

    records of core-self experiences.

    Damasio 2007

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    A BIG problem

    Cognitive science does not have a clear grasp of theissue of consciousness and self; less of its brain

    architecture.

    Too many scattered foci on biological self-awareness from the different disciplines:

    Psychology

    Neuroscience

    Philosophy

    Anthropology

    Sociology

    ...

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    What is self ?

    Self a person's essential being that distinguishes them from others.

    Self the core agent of reflexive perception and reflexive action.

    Uniqueness & Reflection

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    A Brief Rationalefor Machine Selves

    Why do we need machine selves?

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    Do They Need Selves ?

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    Self for Machines?

    There are many reasons for building selvesfor machines: science, show business,

    economy, technical, pure hubris,

    The dictionary reading pinpoints the maintwo:

    Self - a person's essential being that distinguishesthem from others !Uniqueness

    Self - the object of introspection or reflexiveaction !Reflection

    This last can be leveraged in achievingresilient performance in machines.

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    Robot Uniqueness

    By constructive principle, robot uniqueness can only bea contingent property.

    A robot self cannot provide genuine uniqueness.

    All robo-personscan be replicated.

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    Reflection and Robust Autonomy

    Reflection can provide resilience for autonomoussystems

    Lets see how

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    Two classes of problems

    Run-time problems

    What shall the controller do to handle disturbances?

    Construction-time problems

    How to design and build such controller?

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    Two knowledge batteries

    operation

    knowledge

    engineering#

    knowledge

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    Increasing resilience

    Make better things (problem avoidance)

    Make robust things (problem tolerance)

    Passive (Masking)

    !

    Transparent, simple, fast, cost, deteriorating

    Active (Controlling)

    !Cheap, complex, flexible, overhead, adaptable

    Controllers do also suffer faults, errors and failures

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    Increasing Controller resilience

    One way: Make passive-robust controllers

    Other way: Control the controller

    Monitor, diagnose, modify the controller

    Second level controllers:

    Nested controllers

    Adaptive controllers

    Fault-tolerant controllers

    ... self-aware controllers?

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    The Self-loop

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    Self for Robots

    What is a robot self?

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    From Humans to Robots

    Most attempts to artificial selves for robots are

    based on the shallow replication of human biological/behavioral traits (e.g. Damasios).

    Humans are the best ground truth about selfhoodthat we have, the best example to inspect and

    imitate

    However, anthropomorphism is a procrustean path

    that shall be followed with care.

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    Self for Robots in the Movies

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    Qbo passes the mirror test

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    Self-Configuring Robots

    "The key is for robots to create a model of themselvesto figure out what is working and not working in order

    to adapt.

    The robot learns to walk by trial and error,using sensory feedback from itssensors and using model-based

    #

    simulations the robot figures

    out how its body is and how to#

    use it to move.

    Bongard 2006

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    Beyond (unreal) Robots

    Are there any other machine selves?

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    Industrial Robots

    V h l

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    Vehicles

    M R

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    Mars Rovers

    Ai l

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    Airplanes

    Ch i l Pl

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    Chemical Plants

    U ili i

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    Utilities

    M M hi S lf

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    Many Machines are Self-aware

    Ducati 2006

    Autonomic Properties for

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    Software Systems

    Self-Configuration: Automatic configuration ofcomponents;

    Self-Healing: Automatic discovery, and correction

    of faults;

    Self-Optimization: Automatic monitoring andcontrol of resources to ensure the optimal functioningwith respect to the defined requirements;

    Self-Protection: Proactive identification andprotection from arbitrary attacks.

    Kephart 2002

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    The AnthropomorphicTrap

    Why build human-like minds?

    Anthropomorphism

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    Anthropomorphism

    Anthropomorphism is attribution ofhuman form or other characteristics to

    anything other than a human being.

    Examples include ascribing humangoals, drives or emotions to animalsor even to forces of nature, such ashurricanes or earthquakes.

    As we will se later, this may bewrong, but may also be right,

    eventually.

    Seven Fallacies for Self

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    Seven Fallacies for Self

    The BrainFallacy

    The EvolutionFallacy

    The OntogenyFallacy

    The QualiaFallacy

    The SocialFallacy

    The BodyFallacy

    The WholenessFallacy

    The Brain Fallacy

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    The Brain Fallacy

    Consciousness Needs Brains

    A levels and modules trap

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    A levels and modules trap

    The Evolution Fallacy

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    The Evolution Fallacy

    Mind Needs Evolution

    The Ontogeny Fallacy

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    The Ontogeny Fallacy

    Mind NeedsDevelopment

    The Qualia Fallacy

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    The Qualia Fallacy

    Qualia shall be Human Qualia

    The Social Fallacy

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    The Social Fallacy

    Socialization is a need for consciousness emergence

    The Body fallacy

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    The Body fallacy

    Having a body is neccessary

    Cylon Evolution

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    Cylon Evolution

    A human body?

    The Wholeness Fallacy

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    The Wholeness Fallacy

    Genuine Agents shall be Whole Humans

    In the trap

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    In the trap

    Many researches in the study of self, consciousnessand cognition are trapped in the biologism trap.

    Robots shall be created in the image and likeness of

    Human.

    Why does the Robonaut

    look like a PowerRanger?

    Platform Gap

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    Platform Gap

    At the technology level

    Platform Gap

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    At the architecture level

    Platform Gap

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    At the system level

    HBP Neurorobotics Roadmap

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    Escaping the Trap

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    p g p

    A scientific, general theory of consciousnessshould be much more than just some scientificprogress towards understanding how consciousnesscan emerge form the activity of neurons and theirinteractions.

    While human brains are the best source ofinformation about consciousness, the construction ofa general theory of consciousness is stronglyhampered by the almost absolute andobviously excessive focus on human brain,

    human cognition and human neurophysiology.

    A general theory should also address at least the

    many other systems of interest: all kinds of animals,machines and even social groups.

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    The Self Beyond Humans

    Can we escape the trap?

    A New Framework

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    We need a new theoretical framework forbuilding selves beyond humans.

    This framework shall eventually lead to technological

    assets for robot selfhood to enable them to properlyoperate in ecological, technical and economic terms

    in a variety of circumstances.

    A positive theory of self shall be centered on system

    functional architecture, sidetrackingphilosophical discussions on the nature of 'contentand self' and leveraging the value of concrete

    topologies and measurements.

    Beware the technology mismatch

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    A General Self Strategy

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    We need a methodology for extracting universal,domain neutral, architectural organizations

    from the analysis of biological selfhood.

    This will render a set of design principlesand design

    patternsoriented towards the construction ofbetter, more robust machines.

    Bio-inspiration cannot be a one step process; we must

    build solid theories of self first, departing fromconceptions inspired in natural systems, being general

    and supporting our designs of artificial agents.

    Build theories first

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    Theory of Self

    The Self-building loop

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    Self-aware systems know how they workThey can use this knowledge to act

    A single problem set

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    operation

    knowledge

    engineering#

    knowledge

    Bridging the gap

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    System-environment

    knowledge

    Self-engineering Systems

    (predictable autopioetic)

    The agent models the world

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    Models are not just photographs.They are functionallyequivalentdynamical systems.

    CraikRosen

    Agent access to Self

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    Leverage model-based engineeringof the system

    Use theengineering models

    as run-timeself-models

    The agent becomesself-aware

    The Actionable Self Model

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    The agent builds a functional

    model of itself that is:

    Fully integrated

    Continously updated

    Actionable

    This very self model is ath thesame time the cause and the

    effect of the agent actions

    Actionable self-model

    The Model-based Self-loop

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    The causal closure of the model-based controlleroffers a way of bounding recursion in metacontrol.

    Architecture and Self

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    The system self-modelsshall essentially capture the

    system architecture

    Architecture encompasses the set of significant designdecisionsabout the organization of a system

    Structureas elements and their interfaces by which asystem is composed

    Behavioras specified in collaborations among those

    elements

    Compositionof these structural and behavioral elements

    into larger subsystems

    Relation to environment and mission and the architectural

    stylethat guides this organization

    Universal Design Principles

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    The application of the generalization doctrine to theanalysis of the architectural problem of a general

    self-aware system has lead us to the formulation ofseveral design principles.

    These principles can be used in two ways:

    For the construction of reusable assets for a product

    line approach to robust autonomous systems.

    As theoretical analyses of natural cognition,

    consciousness and selfhood.

    Principles

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    Model-based cognition: A cognitive systemexploits models of other systems, of self, in their

    interaction with them.

    Model isomorphism: An embodied, situated,

    cognitive system is as good performer as it is able tokeep its models isomorphic to realities.

    Anticipatory behavior: Agents maximise timely

    performance by means of anticipatory (predictive)models.

    Principles

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    Unified cognitive action generation: Agentsgenerate action based on an integrated, scalable,

    unified model of task, environment and self in searchfor global performance maximisation.

    Model-driven perception: Perception isrealized as the continuous update of the integratedmodels used by the agent by means of real-time

    sensorial information.

    Principles

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    System awareness: An aware system iscontinuously perceiving and generating meaning -

    future value- from the continuously updated models.

    System self-awareness: A self-aware system is

    continuously generating meanings from continuouslyupdated self-models in a model-based cognitivecontrol architecture.

    Note that we use a precise definition of

    meaning and understanding

    Self and Beyond

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    Robot selves will transcendcurrent conceptions of the self:

    Unique

    Inmaterial

    Fixed

    Unitary

    Localised

    Atomic

    Examples of Future Selves

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    Autonomous vehicles

    Battlefield agents

    Telecom networks and terminals

    Smart grids

    The Right Anthropomorphism

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    Anthropomorphism as attribution ofhuman characteristics to anything other

    than a human being may be right.

    This is especially relevant concerning#

    cognitive capabilities because humans#

    are the biggest cognitive powerthat we know so far.

    However, to avoid being misledwe must throw the water out

    without throwing the baby.

    The Baby vs the Water

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    Keep the baby

    Core properties of self:

    Reflection

    Persistence

    Growth

    Dynamicity

    Cohesion

    Actionability

    Ontogeny/Phylogeny

    Throw out the water

    Inessential properties

    Neurality

    Unicity

    Localization

    Socialization

    Uniqueness

    All the metaphysicalremainders: eternal,

    transcendental, etc

    What is self ?

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    Self a person's essential being that distinguishes them from others.

    Self the core agent of reflexive perception and

    reflexive action.

    Self the unification of the subject and the object.

    Self-Aware

    A S

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    Autonomous Systems

    Emotion and Function

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    ECL and MC as architecture ofmorphofunctionality in emotion Herrera 2013

    Overall View of OM

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    Hernandez 2013

    Conclusions

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    The machines of the future will have deep andheterogeneous selves to support them in the provision

    of robust autonomy.

    These selves will leverage reflective, actionablemodels.

    These selves will not be unique,unified nor localised.

    They will be federable,plastic and fully alien to us.

    Coda

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    Future machines will have selves that may beenormously alien to humans; but, in a very precise

    sense, they will be quite similar to ours, exhibiting a

    deeper, purer essence, devoid of all that irrelevant

    noise produced by biological evolution.

    The Self Beyond [email protected]