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)

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 ...

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)

Sociopolitical attitudes are often the root cause of conflicts between individuals, groups, and even nations, but little is known about the origin of individual differences in sociopolitical orientation. We test a combination of economic and evolutionary ideas about the degree to which the mating market, sex, age, and income affect sociopolitical orientation. We collected data online through Amazon’s Mechanical Turk from 1108 US participants who were between 18 and 60, fluent in English, and single. While ostensibly testing a new online (...) dating website, participants created an online dating profile and described people they would like to date. We manipulated the participants’ popularity in the mating market and the size of the market and then measured participants’ sociopolitical attitudes. The sociopolitical attitudes were reduced to five dimensions via Principal Components Analysis. Both manipulations affected attitudes toward wealth redistribution but were largely not significant predictors of the other dimensions. Men reported more unrestricted sociosexual attitudes, and more support for benevolent sexism and traditional family values, than women did, and women supported wealth redistribution more than men did. There was no sex difference in accepting nonconforming behaviors. Younger people and people with lower incomes were more liberal than older people and people with higher incomes, respectively, regardless of sex. Overall, effects were largely not interactive, suggesting that individual differences in sociopolitical orientation may reflect strategic self-interest and be more straightforward than previously predicted. (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.

Drawn from the authors' experiences in the UK, Australia and mainland Europe and with contributions from across the globe, this clear and accessible book includes a wide range of examples. The authors show the reader how to: identify ethical issues which may arise with any research project, gain informed consent, provide information in the right way to participants, and present and disseminate findings in line with ethical guidelines.

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)

The suppression of sexuality is culturally widespread, and women’s sexual promiscuity, activity, and enjoyment are almost always judged and punished more harshly than men’s. It remains disputed, however, to what end people suppress sexuality, and who benefits from the suppression of female sexuality. Different theories predict that women in general, men in general, women’s intimate partners, or parents benefit most. Here we use the lies women and men tell—or imagine telling—about their sexual histories as an indirect measure of who is (...) most involved in the suppression of sexuality. We asked men and women what they would reply if asked questions by their mother, father, current partner, attractive confederate, and various same- or opposite-sex friends and colleagues about their number of previous sex partners, age at first romantic kiss, age at first consensual sex, and cheating on a previous partner or spouse. By comparing the size and direction of the lies that subjects told, we tested competing predictions of several cultural and evolutionary theories concerning why female sexuality is suppressed and who is driving its suppression. We found that men and women told larger and more frequent lies to their parents, with women telling the largest and most frequent lies of all to their fathers. Additionally, the majority of lies by both men and women were in sexually conservative directions. Our findings suggest that mothers, and especially fathers, restrict female sexuality. (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.

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.

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)

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)

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 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)

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)

Did the Thatcher years and their aftermath constitute a revolution or a restoration in education. Do they represent a departure from, or a reinforcement of tradition? _Contemporary Debates in Education_ is a thought-provoking volume which reviews the reforms of the eighties and early nineties, then follow this with an examination of the long-standing issues in education over the last century in order to relate current reforms and changes to their broader historical background, so that those with a general or professional (...) interest in education can better understand the process in which they are involved. (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)

Scholarship on higher education research (i.e., research on the topic of higher education) within the UK has frequently emphasised some of the weaknesses with work in this area, sometimes juxtaposi...

The following is a report of a meeting of the British Society for Cell Biology on ‘The Cell Cycle’, at St Andrews University, 4‐6 April, 1989.

This paper examines the investigations carried out between 1798 and 1834 to determine whether, and how, magnetism affected the rate at which marine chronometers gained or lost time. There were persistent claims that chronometers systematically altered rate between those determined on land and those at sea, and magnetism was thought by some to be the most likely cause. Others disputed any rate difference at all. The experiments carried out to determine the influence of magnetism and those carried out to determine (...) if there was a difference between land and sea rates of chronometers will be considered. The data will be re-analysed in an attempt to extract additional information to clarify the answers to these questions. The influence these experiments had on certain navigational practices will be discussed briefly. (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)

Incorporating theoretic insights from ageing biology could advance the “staying alive” hypothesis. Higher male extrinsic mortality can weaken selection against ageing-related diseases and self-preservation, leading to high male intrinsic mortality. This may incidentally result in female-biased longevity-promoting traits, a possibility that will require rigorous testing in order to disentangle from the adaptive self-preservation hypothesis presented in the target article.

This article explores the kind of detachment needed to conduct comparative law scholarship and teaching, as well as implement its application to practical problems. The full and fair comparison of the law requires a cosmopolitan view which embodies some degree of detachment from adherence to the laws of one's ``home". The Enlightenment efforts to build a science of comparative law to achieve this detachment failed. Modern inheritors of the Enlightenment approach have similarly failed. In a series of articles, I argue (...) that we must return to the ancient effort to achieve a new ``objectivity" through Hellenic deliberation, Hellenistic detachment, Roman rhetoric, Christian dialectic and the canonics of the empire's codification process. This article focuses upon the Hellenistic contributions to achievement of cosmopolitan detachment. The Cynic, Skeptic Stoic and Epicurean doctrines and ethical education offer an alternative route to the detachment necessary for a comparative law. (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)

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)