Artificial intelligence research has foundered on the issue of representation. When intelligence is approached in an incremental manner, with strict reliance on interfacing to the real world through perception and action, reliance on representation disappears. In this paper we outline our approach to incrementally building complete intelligent Creatures. The fundamental decomposition of the intelligent system is not into independent information processing units which must interface with each other via representations. Instead, the intelligent system is decomposed into independent and parallel activity (...) producers which all interface directly to the world through perception and action, rather than interface to each other particularly much. The notions of central and peripheral systems evaporateeverything is both central and peripheral. Based on these principles we have built a very successful series of mobile robots which operate without supervision as Creatures in standard office environments. (shrink)

Most animals have significant behavioral expertise built in without having to explicitly learn it all from scratch. This expertise is a product of evolution of the organism; it can be viewed as a very long term form of learning which provides a structured system within which individuals might learn more specialized skills or abilities. This paper suggests one possible mechanism for analagous robot evolution by describing a carefully designed series of networks, each one being a strict augmentation of the previous (...) one, which control a six legged walking machine capable of walking over rough terrain and following a person passively sensed in the infrared spectrum. As the completely decentralized networks are augmented. the robot’s performance and behavior repetoire demonstrably improve. The rationale for such demonstrations is that they may provide a hint as to the requirements for automatically building massive networks to carry out complex sensory-motor tasks. The experiments with an actual robot ensure that an essence of reality is maintained and that no critical disabling problems have been ignored. (shrink)

In order to build autonomous robots that can carry out useful work in unstructured environments new approaches have been developed to building intelligent systems. The relationship to traditional academic robotics and traditional artificial intelligence is examined. In the new approaches a tight coupling of sensing to action produces architectures for intelligence that are networks of simple computational elements which are quite broad, but not very deep. Recent work within this approach has demonstrated the use of representations, expectations, plans, goals, and (...) learning, but without resorting to the traditional uses, of central, abstractly manipulable or symbolic representations. Perception within these systems is often an active process, and the dynamics of the interactions with the world are extremely important. The question of how to evaluate and compare the new to traditional work still provokes vigorous discussion. (shrink)

Both direct, and evolved, behavior-based approaches to mobile robots have yielded a number of interesting demonstrations of robots that navigate, map, plan and operate in the real world. The work can best be described as attempts to emulate insect level locomotion and navigation, with very little work on behavior-based non-trivial manipulation of the world. There have been some behavior-based attempts at exploring social interactions, but these too have been modeled after the sorts of social interactions we see in insects. But (...) thinking how to scale from all this insect level work to full human level intelligence and social interactions leads to a synthesis that is very di erent from that imagined in traditional Arti cial Intelligence and Cognitive Science. We report on work towards that goal. (shrink)

Artificial Intelligence as a discipline has gotten bogged down in subproblems of intelligence. These subproblems are the result of applying reductionist methods to the goal of creating a complete artificial thinking mind. In Brooks (1987) 1 have argued that these methods will lead us to solving irrelevant problems; interesting as intellectual puzzles, but useless in the long run for creating an artificial being.

The first part of this paper explores the general issues in using Artificial Life techniques to program actual mobile robots. In particular it explores the difficulties inherent in transferring programs evolved in a simulated environment to run on an actual robot. It examines the dual evolution of organism morphology and nervous systems in biology. It proposes techniques to capture some of the search space pruning that dual evolution offers in the domain of robot programming. It explores the relationship between robot (...) morphology and program structure, and techniques for capturing regularities across this mapping. (shrink)

We describe an algorithm which allows a behavior-based robot to learn on the basis of positive and negative feedback when to activate its behaviors. In accordance with the philosophy of behavior-based robots, the algorithm is completely distributed: each of the behaviors independently tries to find out (i) whether it is relevant (ie. whether it is at all correlated to positive feedback) and (ii) what the conditions are under which it becomes reliable (i.e. the conditions under which i t maximizes the (...) probability of receiving positive feedback and minimizes the probability of receiving negative feedback). The algorithm has been tested successfully on an autonomous 6-legged robot which had to learn how to coordinate its legs so as to walk forward. (shrink)

Behavior based systems require an orthogonal view of integration issues. In this paper we highlight those issues, discuss what is easy, what is hard, and where the research frontiers lie.

At the MIT Arti cial Intelligence Laboratory we have been working on technologies for an Intelligent Room. Rather than pull people into the virtual world of the computer we are trying to pull the computer out into the real world of people. To do this we are combining robotics and vision technology with speech understanding systems, and agent based architectures to provide ready at hand computation and information services for people engaged in day to day activities, both on their own (...) and in conjunction with others. We have built a layered architecture where at the bottom level vision systems track people and identify their activities and gestures, and through word spotting decide whether people in the room are talking to each other or to the room itself. At the next level an agent architecture provides a uniform interface to such specially built systems, and to other o the shelf software, such as web browsers, etc. At the highest level we are able to build application systems that provide occupants of the room with specialized services; examples we have built include systems for command and control situations rooms and as a room for giving presentations. (shrink)

We present a novel methodology for building humanlike artificially intelligent systems. We take as a model the only existing systems which are universally accepted as intelligent: humans. We emphasize building intelligent systems which are not masters of a single domain, but, like humans, are adept at performing a variety of complex tasks in the real world. Using evidence from cognitive science and neuroscience, we suggest four alternative essences of intelligence to those held by classical AI. These are the parallel themes (...) of development, social interaction, embodiment, and integration. Following a methodology based on these themes, we have built a physical humanoid robot. In this paper we present our methodology and the insights it affords for facilitating learning, simplifying the computation underlying rich behavior, and building systems that can scale to more complex tasks in more challenging environments. (shrink)

There are a number of reasons to be interested in building humanoid robots. They include (1) since almost all human artifacts have been designed to easy for humans to interact with, humanoid robots provide backward compatibility with the existing human constructed world, (2) humanoid robots provide a natural form for humans to operate through telepresence since they have the same kinematic design as humans themselves, (3) by building humanoid robots that model humans directly they will be a useful tool in (...) understanding how humans develop and operate as they provide a platform for experimenting with different hypotheses about humans and (4) humanoid robots, given su cient abilities, will present a natural interface to people and people will be able to use their instinctive and culturally developed subconscious techniques for communicating with other people to communicate with humanoid robots. In this paper we take reason (4) seriously, and examine some of the technologies that are necessary to make this hope a reality. (shrink)

Complex systems and complex missions take years of planning and force launches to become incredibly expensive. The longer the planning and the more expensive the mission, the more catastrophic if it fails. The solution has always been to plan better, add redundancy, test thoroughly and use high quality components. Based on our experience in building ground based mobile robots (legged and wheeled) we argue here for cheap, fast missions using large numbers of mass produced simple autonomous robots that are small (...) b y today's standards (1 to 2 Kg). We argue that the time between mission conception and implementation can be radically reduced, that launch mass can be slashed, that totally autonomous robots can be more reliable than ground controlled robots, and that large numbers of robots can change the tradeoff between reliability of individual components and overall mission success. Lastly, we suggest that within a few years it will be possible at modest cost to invade a planet with millions of tiny robots. (shrink)

Both direct, and evolved, behavior-based approaches to mobile robots have yielded a number of interesting demonstrations of robots that navigate, map, plan and operate in the real world. The work can best be described as attempts to emulate insect level locomotion and navigation, with very little work on behavior-based non-trivial manipulation of the world. There have been some behavior-based attempts at exploring social interactions, but these too have been modeled after the sorts of social interactions we see in insects. But (...) thinking how to scale from all this insect level work to full human level intelligence and social interactions leads to a synthesis that is very different from that imagined in traditional Artificial Intelligence and Cognitive Science. We report on work towards that goal. (shrink)

Applications of learning to autonomous agents (simulated or real) have often been restricted to learning a mapping from perceived state of the world to the next action to take. Often this is couched in terms of learning from no previous knowledge. This general case for real autonomous robots is very difficult. In any case, when building a real robot there is usually a lot of a priori knowledge (e.g., from the engineering that went into its design) which doesn’t need to (...) be learned. We describe the behavior-based approach to autonomous robots, and then examine four classes of learning problems associated with such robots. (shrink)

We want to build tiny gnat-sized robots, a millimeter or two in diameter. They will be cheap, disposable, totally sefcontained autonomous agents able to do useful things in the world. This paper consists of two parts. The first describes why we want to build them. The second is a technical outline of how to go about it. Gnat robots are going to change the world.

This paper presents an autonomous vision-based obstacle avoidance system. The system consists of three independent vision modules for obstacle detection, each of which is computationally simple and uses a di erent criterion for detection purposes. These criteria are based on brightness gradients, RGB Red, Green, Blue color, and HSV Hue, Saturation, Value color, respectively. Selection of which modules are used to command the robot proceeds exclusively from the outputs of the modules themselves. The system is implemented on a small monocular (...) mobile robot and uses very low resolution images. It has been tested for over 200 hours in diverse environments. Keywords: Vision-based navigation, space exploration, modular design, reactive control, unstructured terrain. (shrink)

We have previously built a small IKg ([Angle 89] and [Brooks 89]) six legged walking robot named Genghis. It was remarkably successful as a testbed to develop walking and learning algorithms. It encouraged us to build a more fully engineered robot with higher performance. We are building two copies of the robot, both 1.6Kg in mass. Their generic name is Attila. Attila has 24 actuators and over 150 sensors, all connected via a local network (the I2C bus) to 11 (...) onboard computers. (shrink)

This volume is the direct result of a conference in which a number of leading researchers from the fields of artificial intelligence and biology gathered to ...

In his 1923 play R.U.R.: Rossum s Universal Robots, Karel Capek coined In 1993, we began a humanoid robotics project aimed at constructing a robot for use in exploring theories of human intelligence. In this article, we describe three aspects of our research methodology that distinguish our work from other humanoid projects. First, our humanoid robots are designed to act autonomously and safely in natural workspaces with people. Second, our robots are designed to interact socially with people by exploiting natural (...) human social cues. Third, we believe that robotics offers a unique tool for testing models of human intelligence drawn from developmental psychology and cognitive science. (shrink)

This paper examines an issue that is becoming increasingly relevant as the pressures of a warming planet, changing climate and changing ecosystems ramp up. The broad context for the paper is the intragenerational, intergenerational, and interspecies equity implications of changing the climate and the value orientations of adapting to such change. In addition, the need to stabilize the planetary climate by urgent mitigation of change factors is a foundational ethical assumption. In order to avoid further animal and plant extinctions, or (...) at the very least, their increased vulnerability to becoming rare and endangered; the systematic assisted colonization of “at risk” species is being seriously considered by scientists and managers of biodiversity. The more practical aspects of assisted colonization have been covered in the conservation biology literature; however, the ethical implications of such actions have not been extensively examined. Our discussion of the value issues, using a novel case study approach, will rectify the limited ethical analysis of the issue of assisted colonization of species in the face of climate change pressures. Beyond sustainability ethics, both animal and environmental ethical approaches will be used and intrinsic versus instrumental value orientations in the literature shall form the basis of our discussion. After the application of all the ethical approaches to the case studies, we conclude that without mitigation and the prospect of a future stable climate, assisted colonization will be involved in an inherently unethical process and a “move and lose it” outcome. With mitigation, there is wide-ranging ethical support for assisted colonization. (shrink)

This paper explores a case example of qualitative research that applied productive hermeneutics and the central concept, fusion of horizons. Interpretation of meaning is a fusing of the researchers’ and subjects’ perspectives and serves to expand understanding. The purpose is to illustrate an exemplar of qualitative research without establishing a rigid recipe of methodology. The illustration is based on in-depth observational and textual data from an applied anthropological study conducted in western Alaska with Yup’ik hunters and fishers and government agency (...) employees as they worked towards collaborative management. The metaphor of the hermeneutical circle is showcased to help the reader understand the philosophical underpinnings and the analytical processes used to realize a meaningful interpretation. A series of organizing systems for the interpretation is described, culminating in a final organizing system to communicate a fully realized understanding of collaborative management at the time. (shrink)

Determining what constitutes an anticipatable incidental finding from clinical research and defining whether, and when, this IF should be returned to the participant have been topics of discussion in the field of human subject protections for the last 10 years. It has been debated that implementing a comprehensive IF-approach that addresses both the responsibility of researchers to return IFs and the expectation of participants to receive them can be logistically challenging. IFs have been debated at different levels, such as the (...) ethical reasoning for considering their disclosure or the need for planning for them during the development of the research study. Some authors have discussed the methods for re-contacting participants for disclosing IFs, as well as the relevance of considering the clinical importance of the IFs. Similarly, other authors have debated about when IFs should be disclosed to participants. However, no author has addressed how the “actionability” of the IFs should be considered, evaluated, or characterized at the participant's research setting level. This paper defines the concept of “Actionability at the Participant's Research Setting Level” for anticipatable IFs from clinical research, discusses some related ethical concepts to justify the APRSL concept, proposes a strategy to incorporate APRSL into the planning and management of IFs, and suggests a strategy for integrating APRSL at each local research setting. (shrink)

This book is a series of essays by distinguished scholars concerned with the improvement of primary, secondary, and tertiary studies, most especially in arts but also in mathematics and science. It is concerned with past ideas about education in Australia, most particularly with the traditions that have yielded an education that has proven most beneficial to Australia in terms of comparison with other countries; and it advocates and emphasises how this tradition can be maintained and improved in specific ways. Essays (...) focus on primary and secondary education in music, and art, mathematics, history and the classics, on the improvement of memory and vocabulary, but more particularly on university education, discussing the purpose of education, learning in general, the use of the seminar, the necessity of freedom of debate, the inadequacies and contradictions of French and Anglo-post modernism, the teaching of history, of philosophy, and its branch aesthetics, mathematics, equality in education, teaching at university and funding of the whole enterprise. The authors are all well known in their disciplines and some are experts, internationally recognised in their fields. This book features essays by: David Daintree, Karl Schmude, Simon Haines, Kevin Donnelly, Matthew Lesh, Chris Berg & Bella d'Abrera, David Furse-Roberts, Greg Melleuish, Steven Schwartz, Blaise Joseph, James Franklin, Christopher Allen, Richard Gill, Jeremy Bell, Barry Spurr, David Brooks, Natalie Kennedy, Sarah Williams, Sarah Lawrence, Ivan Francis Head. (shrink)

BackgroundSchool based running programmes, such as The Daily Mile™, positively impact pupils’ physical health, however, there is limited evidence on psychological health. Additionally, current evidence is mostly limited to examining the acute impact. The present study examined the longer term impact of running programmes on pupil cognition, wellbeing, and fitness.MethodData from 6,908 school pupils, who were participating in a citizen science project, was examined. Class teachers provided information about participation in school based running programmes. Participants completed computer-based tasks of inhibition, (...) verbal and visual-spatial working memory, as well as the Children’s Feeling scale and Felt arousal scale to determine subjective wellbeing. A multistage 20-m shuttle run test was used to estimate fitness.ResultsFrom our total sample of 6,908 school pupils, 474 participants had been taking part in a running programme for 3 months); and 5,430 did not take part in a running programme. The Longer Term participation group had higher fitness levels than both other groups and this remained significant when adjusted for age, sex and SES. Moderated regression analysis found that for the Shorter Term participation group, higher shuttle distance was associated with better visual-spatial working memory. Effect sizes were small though.ConclusionWe identified small and selective positive impact of participation in school based running programmes on fitness and cognition. While no long term benefit was identified for cognition or wellbeing, the impact on fitness and short term benefit suggest schools should consider participation. (shrink)

boundaries. It is impossible to do good science without having an appreciation for the problems and concepts in the other levels of abstraction (at least in the direction from biology towards physics), but there are whole sets of tools, methods of analysis, theories and explanations within each discipline which do not cross those boundaries.

Can we respond to injustices in the world in ways that do more than just address their consequences? In this book, Brooke A. Ackerly argues that what to do about injustice is not just an ethical or moral question, but a political question about assuming responsibility for injustice. Ultimately, Just Responsibility offers a theory of global injustice and political responsibility that can guide action.

From the diverse work and often competing insights of women's human rights activists, Brooke Ackerly has written a feminist and a universal theory of human rights that bridges the relativists' concerns about universalizing from particulars and the activists' commitment to justice. Unlike universal theories that rely on shared commitments to divine authority or to an 'enlightened' way of reasoning, Ackerly's theory relies on rigorous methodological attention to difference and disagreement. She sets out human rights as at once a research ethic, (...) a tool for criticism of injustice and a call to recognize our obligations to promote justice through our actions. This book will be of great interest to political theorists, feminist and gender studies scholars and researchers of social movements. (shrink)

In Political Theory and Feminist Social Criticism, Brooke Ackerly demonstrates the shortcomings of contemporary deliberative democratic theory, relativism and essentialism for guiding the practice of social criticism in the real, imperfect world. Drawing theoretical implications from the activism of Third World feminists who help bring to public audiences the voices of women silenced by coercion, Brooke Ackerly provides a practicable model of social criticism. She argues that feminist critics have managed to achieve in practice what other theorists do only incompletely (...) in theory. Complemented by Third World feminist social criticism, deliberative democratic theory becomes critical theory - actionable, coherent, and self-reflective. While a complement to democratic theory, Third World feminist social criticism also addresses the problem in feminist theory associated with attempts to deal with identity politics. Third World feminist social criticism thus takes feminist theory beyond the critical impasse of the tension between anti-relativist and anti-essentialist feminist theory. (shrink)

This article identifies a foundation for Confucian democratic political thought in Confucian thought. Each of the three aspects emphasized is controversial, but supported by views held within the historical debates and development of Confucian political thought and practice. This democratic interpretation of Confucian political thought leads to (1) an expectation that all people are capable of ren and therefore potentially virtuous contributors to political life; (2) an expectation that the institutions of political, social, and economic life function so as to (...) develop the virtue of being a perfected human being; and (3) an expectation that there be public spacefor political criticism and for ongoing contestation over the duties and behaviors of individual leaders and citizens and over the functioning of the institutions that am to cultivate their behavior. (shrink)

This article identifies a foundation for Confucian democratic political thought in Confucian thought. Each of the three aspects emphasized is controversial, but supported by views held within the historical debates and development of Confucian political thought and practice. This democratic interpretation of Confucian political thought leads to an expectation that all people are capable of ren and therefore potentially virtuous contributors to political life; an expectation that the institutions of political, social, and economic life function so as to develop the (...) virtue of being a perfected human being; and an expectation that there be public space for political criticism and for ongoing contestation over the duties and behaviors of individual leaders and citizens and over the functioning of the institutions that are to cultivate their behavior. (shrink)

Tiantai Buddhism emerged from an idiosyncratic and innovative interpretation of the Lotus Sutra to become one of the most complete, systematic, and influential schools of philosophical thought developed in East Asia. Brook A. Ziporyn puts Tiantai into dialogue with modern philosophical concerns to draw out its implications for ethics, epistemology, and metaphysics. Ziporyn explains Tiantai’s unlikely roots, its positions of extreme affirmation and rejection, its religious skepticism and embrace of religious myth, and its view of human consciousness. Ziporyn reveals the (...) profound insights of Tiantai Buddhism while stimulating philosophical reflection on its unexpected effects. (shrink)

ABSTRACTThis symposium brings together normative and empirical scholars in dialogue on Brooke Ackerly’s innovative and compelling recent monograph, Just Responsibility. Contributors discuss the book’s distinctive grounded normative theory methodology, its arguments for how individuals can take appropriate responsibility for global structural injustices, and its potential for practical impact.

It is a profound compliment that Robyn Eckersley, Michael Goodhart, Luis Cabrera, and Kristi Kenyon have engaged so thoughtfully with the arguments of Just Responsibility. In their treatments, the...

The questions of this article are: what can we learn from deliberative democratic theory, its critics, the practices of local deliberative communities, the needs of potential participants, and the experiences of virtual communities that would be useful in designing a technology-facilitated institution for global civil society that is deliberative and democratic in its values? And what is the appropriate design of such an online institution so that it will be attentive to the undemocratic forces enabled by power inequalities that can (...) emerge in discursive communities? I answer these questions with an institutional innovation that meets a need of global civil society and that is responsive to critics of deliberative democratic theory and attentive to the particular agents engaged in women's human rights activism. (shrink)

Conspiracy theories are rather a popular topic these days, and a lot has been written on things like the meaning of _conspiracy theory_, whether it’s ever rational to believe conspiracy theories, and on the psychology and demographics of people who believe conspiracy theories. But very little has been said about why people might be led to posit conspiracy theories in the first place. This paper aims to fill this lacuna. In particular, I shall argue that, in open democratic societies, citizens (...) justifiably presuppose that the epistemic authorities—journalists, academics, scientists, and so on—are engaged in a good faith pursuit of the truth. This presupposition generates certain normative expectations on the behaviors of the epistemic authorities—they ought to be open to new evidence, possess a healthy degree of skepticism, be willing to engage with opponents, and so on. So, when an epistemic authority is presented with some putatively anomalous data or an alternative hypothesis for some event or phenomena, people expect the epistemic authority to respond in a way that is consonant with these norms. In some instances, however, the epistemic authorities do not respond in this way and instead are dogmatic, dismissive, and engage in _ad hominem_. From the point of view of the citizen, there’s a tension here between how the epistemic authorities ought to behave and how they have, in fact, behaved which is best resolved either by taking the epistemic authorities less seriously or by positing a conspiracy theory. Put another way, the failure of the epistemic authorities to adhere to the norms by which we take them to be governed when presented with apparent anomalies or alternative hypotheses is one reason for which one might initially posit a conspiracy theory. (shrink)

Across a wide variety of cultural settings, kin have been shown to play an important role in promoting women’s reproductive success. Patrilocal postmarital residence is a potential hindrance to maintaining these support networks, raising the question: how do women preserve and foster relationships with their natal kin when propinquity is disrupted? Using census and interview data from the Himba, a group of semi-nomadic African pastoralists, I first show that although women have reduced kin propinquity after marriage, more than half of (...) married women are visiting with their kin at a given time. Mobility recall data further show that married women travel more than unmarried women, and that women consistently return to stay with kin around the time of giving birth. Divorce and death of a spouse also trigger a return to living with kin, leading to a cumulative pattern of kin coresidence across the lifespan. These data suggest that patrilocality may be less of a constraint on female kin support than has been previously assumed. (shrink)