In this article, we propose some fundamental requirements for the appearance of adaptivity. We argue that a basic metabolic organization, taken in its minimal sense, may provide the conceptual framework for naturalizing the origin of teleology and normative functionality as it appears in living systems. However, adaptivity also requires the emergence of a regulatory subsystem, which implies a certain form of dynamic decoupling within a globally integrated, autonomous system. Thus, we analyze several forms of minimal adaptivity, including the special case (...) of motility. We go on to explain how an open-ended complexity growth of motility-based adaptive agency, namely, behavior, requires the appearance of the nervous system. Finally, we discuss some implications of these ideas for embodied robotics. (shrink)

Dynamicism has provided cognitive science with important tools to understand some aspects of “how cognitive agents work” but the issue of “what makes something cognitive” has not been sufficiently addressed yet, and, we argue, the former will never be complete without the later. Behavioristic characterizations of cognitive properties are criticized in favor of an organizational approach focused on the internal dynamic relationships that constitute cognitive systems. A definition of cognition as adaptive-autonomy in the embodied and situated neurodynamic domain is provided: (...) the compensatory regulation of a web of stability dependencies between sensorimotor structures, is created and preserved during a historical/developmental process. We highlight the functional role of emotional embodiment: internal bioregulatory processes coupled to the formation and adaptive regulation of neurodynamic autonomy. Finally, we discuss a “minimally cognitive behavior program” in evolutionary simulation modelling suggesting that much is to be learned from a complementary “minimally cognitive organization program”. (shrink)

Mike Anderson1 has given us a thoughtful and useful field guide: Not in the genre of a bird-watcher’s guide which is carried in the field and which contains detailed descriptions of possible sightings, but in the sense of a guide to a field (in this case embodied cognition) which aims to identify that field’s general principles and properties. I’d like to make some comments that will hopefully complement Anderson’s work, highlighting points of agreement and disagreement between his view of the (...) field and my own, and acting as a devil’s advocate in places where further discussion seems to be required. Given the venue for this guide, we can safely restrict the discussion to embodied artificial intelligence (EAI), even if such work draws on notions of embodied cognition.. (shrink)

The frame problem is the difficulty of explaining how non-magical systems think and act in ways that are adaptively sensitive to context-dependent relevance. Influenced centrally by Heideggerian phenomenology, Hubert Dreyfus has argued that the frame problem is, in part, a consequence of the assumption (made by mainstream cognitive science and artificial intelligence) that intelligent behaviour is representation-guided behaviour. Dreyfus' Heideggerian analysis suggests that the frame problem dissolves if we reject representationalism about intelligence and recognize that human agents realize the property (...) of thrownness (the property of being always already embedded in a context). I argue that this positive proposal is incomplete until we understand exactly how the properties in question may be instantiated in machines like us. So, working within a broadly Heideggerian conceptual framework, I pursue the character of a representation-shunning thrown machine. As part of this analysis, I suggest that the frame problem is, in truth, a two-headed beast. The intra-context frame problem challenges us to say how a purely mechanistic system may achieve appropriate, flexible and fluid action within a context. The inter-context frame problem challenges us to say how a purely mechanistic system may achieve appropriate, flexible and fluid action in worlds in which adaptation to new contexts is open-ended and in which the number of potential contexts is indeterminate. Drawing on the field of situated robotics, I suggest that the intra-context frame problem may be neutralized by systems of special-purpose adaptive couplings, while the inter-context frame problem may be neutralized by systems that exhibit the phenomenon of continuous reciprocal causation. I also defend the view that while continuous reciprocal causation is in conflict with representational explanation, special-purpose adaptive coupling, as well as its associated agential phenomenology, may feature representations. My proposal has been criticized recently by Dreyfus, who accuses me of propagating a cognitivist misreading of Heidegger, one that, because it maintains a role for representation, leads me seriously astray in my handling of the frame problem. I close by responding to Dreyfus' concerns. (shrink)

In the field of artificial life there is no agreement on what defines ‘autonomy’. This makes it difficult to measure progress made towards understanding as well as engineering autonomous systems. Here, we review the diversity of approaches and categorize them by introducing a conceptual distinction between behavioral and constitutive autonomy. Differences in the autonomy of artificial and biological agents tend to be marginalized for the former and treated as absolute for the latter. We argue that with this distinction the apparent (...) opposition can be resolved. (shrink)

This paper proposes a basic revision of the understanding of teleology in biological sciences. Since Kant, it has become customary to view purposiveness in organisms as a bias added by the observer; the recent notion of teleonomy expresses well this as-if character of natural purposes. In recent developments in science, however, notions such as self-organization (or complex systems) and the autopoiesis viewpoint, have displaced emergence and circular self-production as central features of life. Contrary to an often superficial reading, Kant gives (...) a multi-faceted account of the living, and anticipates this modern reading of the organism, even introducing the term self-organization for the first time. Our re-reading of Kant in this light is strengthened by a group of philosophers of biology, with Hans Jonas as the central figure, who put back on center stage an organism-centered view of the living, an autonomous center of concern capable of providing an interior perspective. Thus, what is present in nuce in Kant, finds a convergent development from this current of philosophy of biology and the scientific ideas around autopoeisis, two independent but parallel developments culminating in the 1970s. Instead of viewing meaning or value as artifacts or illusions, both agree on a new understanding of a form of immanent teleology as truly biological features, inevitably intertwined with the self-establishment of an identity which is the living process. (shrink)

This essay has two goals. The first is to define the behavioristic study of natural events and to classify behavior. The second is to stress the importance of the concept of purpose.Given any object, relatively abstracted from its surroundings for study, the behavioristic approach consists in the examination of the output of the object and of the relations of this output to the input. By output is meant any change produced in the surroundings by the object. By input, conversely, is (...) meant any event external to the object that modifies this object in any manner. (shrink)

As yet, there is no enactive account of social cognition. This paper extends the enactive concept of sense-making into the social domain. It takes as its departure point the process of interaction between individuals in a social encounter. It is a well-established finding that individuals can and generally do coordinate their movements and utterances in such situations. We argue that the interaction process can take on a form of autonomy. This allows us to reframe the problem of social cognition as (...) that of how meaning is generated and transformed in the interplay between the unfolding interaction process and the individuals engaged in it. The notion of sense-making in this realm becomes participatory sense-making. The onus of social understanding thus moves away from strictly the individual only. (shrink)

The nature of cognition is being re-considered. Instead of emphasizing formal operations on abstract symbols, the new approach foregrounds the fact that cognition is, rather, a situated activity, and suggests that thinking beings ought therefore be considered first and foremost as acting beings. The essay reviews recent work in Embodied Cognition, provides a concise guide to its principles, attitudes and goals, and identifies the physical grounding project as its central research focus.

MICHAEL WHEELER Cambridge, MA: MIT Press, 2005432 pages, ISBN: 0262232405 (hbk); $35.001.When I was teaching at MIT in the 1960s, students from the Artificial Intelligence Laboratory would come to...

Researchers in artificial intelligence (AI) Moore’s law states that computational complexity of the models is still far below that and artificial life (Alife) are interested resources for a fixed price roughly double of any living system. New experiments in evo- in understanding the properties of liv- every 18 months. From about 1975 into the lution simulate spatially isolated populations ing organisms so that they can build artificial early 1990s all the gains of Moore’s law went to investigate speciation. Over the (...) past few systems that exhibit these properties for into the changeover from the centralized years, new directions have emerged in AI⁵, in useful purposes. AI researchers are interest- mainframe to the individual computer on attempts to implement artificial creatures in ed mostly in perception, cognition and your desk, accommodating a vastly simulated or physical environments. generation of action (Box 1), whereas Alife increased number of users. The amount of Often called the behaviour-based focuses on evolution, reproduction, computing power available to the individual approach, this new mode of thought involves morphogenesis and metabolism (Box 2). scientist did not change that much, although the connection of perception to action with Neither of these disciplines is a conventional the price came down by a factor of a little in the way of intervening representa- science; rather, they are a mixture of science thousand. But since the early 1990s, all of tional systems. Rather than relying on and engineering. Despite, or perhaps Moore’s law has gone into increasing the per- search, this approach relies on the correct because of, this hybrid structure, both disci- formance of the workstation itself. short, fast connections being present plines have been very successful and our And both AI and Alife have benefited from between sensory and motor modules. world is full of their products. this shift. Behaviour-based approaches began with Every time we use a computer we use Increased computer power has enabled insect models, but more recently they have algorithms and techniques developed by AI search-based AI to push ahead with been extended to humanoid robots⁶ — researchers. (shrink)

This talk, delivered at De l''autopoièse à la neurophénoménologie: un hommage à Francisco Varela; from autopoiesis to neurophenomenology: a tribute to Francisco Varela, June 18–20, at the Sorbonne in Paris, explicates several links between Varela''s neurophenomenology and his biological concept of autopoiesis.

The theory of autopoiesis is central to the enactive approach. Recent works emphasize that the theory of autopoiesis is a theory of sense-making in living systems, i.e. of how living systems produce and consume meaning. In this chapter I first illustrate (some aspects of) these recent works, and interpret their notion of sense-making as a bodily cognitive- emotional form of understanding. Then I turn to modern emotion science, and I illustrate its tendency to over-intellectualize our capacity to evaluate and understand. (...) I show that this overintellectualization goes hand in hand with the rejection of the idea that the body is a vehicle of meaning. I explain why I think that this over-intellectualization is problematic, and try to reconceptualize the notion of evaluation in emotion theory in a way that is consistent and continuous with the autopoietic notion of sense-making. (shrink)

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)

There has been much discussion recently about the scope and limits of purely symbolic models of the mind and about the proper role of connectionism in cognitive modeling. This paper describes the symbol grounding problem : How can the semantic interpretation of a formal symbol system be made intrinsic to the system, rather than just parasitic on the meanings in our heads? How can the meanings of the meaningless symbol tokens, manipulated solely on the basis of their shapes, be grounded (...) in anything but other meaningless symbols? The problem is analogous to trying to learn Chinese from a Chinese/Chinese dictionary alone. A candidate solution is sketched: Symbolic representations must be grounded bottom-up in nonsymbolic representations of two kinds: iconic representations, which are analogs of the proximal sensory projections of distal objects and events, and categorical representations, which are learned and innate feature-detectors that pick out the invariant features of object and event categories from their sensory projections. Elementary symbols are the names of these object and event categories, assigned on the basis of their categorical representations. Higher-order symbolic representations, grounded in these elementary symbols, consist of symbol strings describing category membership relations. Connectionism is one natural candidate for the mechanism that learns the invariant features underlying categorical representations, thereby connecting names to the proximal projections of the distal objects they stand for. In this way connectionism can be seen as a complementary component in a hybrid nonsymbolic/symbolic model of the mind, rather than a rival to purely symbolic modeling. Such a hybrid model would not have an autonomous symbolic module, however; the symbolic functions would emerge as an intrinsically dedicated symbol system as a consequence of the bottom-up grounding of categories ' names in their sensory representations. Symbol manipulation would be governed not just by the arbitrary shapes of the symbol tokens, but by the nonarbitrary shapes of the icons and category invariants in which they are grounded. (shrink)

What psychological and philosophical significance should we attach to recent efforts at computer simulations of human cognitive capacities? In answering this question, I find it useful to distinguish what I will call "strong" AI from "weak" or "cautious" AI. According to weak AI, the principal value of the computer in the study of the mind is that it gives us a very powerful tool. For example, it enables us to formulate and test hypotheses in a more rigorous and precise fashion. (...) But according to strong AI, the computer is not merely a tool in the study of the mind; rather, the appropriately programmed computer really is a mind, in the sense that computers given the right programs can be literally said to. (shrink)

Many current neurophysiological, psychophysical, and psychological approaches to vision rest on the idea that when we see, the brain produces an internal representation of the world. The activation of this internal representation is assumed to give rise to the experience of seeing. The problem with this kind of approach is that it leaves unexplained how the existence of such a detailed internal representation might produce visual consciousness. An alternative proposal is made here. We propose that seeing is a way of (...) acting. It is a particular way of exploring the environment. Activity in internal representations does not generate the experience of seeing. The out- side world serves as its own, external, representation. The experience of seeing occurs when the organism masters what we call the gov- erning laws of sensorimotor contingency. The advantage of this approach is that it provides a natural and principled way of accounting for visual consciousness, and for the differences in the perceived quality of sensory experience in the different sensory modalities. Sev- eral lines of empirical evidence are brought forward in support of the theory, in particular: evidence from experiments in sensorimotor adaptation, visual “filling in,” visual stability despite eye movements, change blindness, sensory substitution, and color perception. (shrink)

The enactive approach to perception is generating an extensive amount of interest and debate in the cognitive sciences. One particularly contentious issue has been how best to characterize the perceptual experiences reported by subjects who have mastered the skillful use of a perceptual supplementation (PS) device. This paper argues that this issue cannot be resolved with the use of third-person methodologies alone, but that it requires the development of a phenomenological pragmatics. In particular, it is necessary that the experimenters become (...) skillful in the use of PS devices themselves. The "Enactive Torch" is proposed as an experimental platform which is cheap, non-intrusive and easy to replicate, so as to enable researchers to corroborate reported experiences with their own phenomenology more easily. (shrink)

The enactive approach to cognitive science involves frequent references to “action” without making clear what is intended by the term. In particular, though autopoiesis is seen as a foundation for teleology in the enactive literature, no definition or account is offered of goals which can encompass not just descriptions of biological maintenance, but the range of social and cultural activities in which human beings continually engage. The present paper draws primarily on the work of Juarrero (Dynamics in action. Cambridge, MA: (...) MIT Press, 1999) and Donald (Origins of the modern mind. London: Wiedenfeld & Nicolson, 1991) in an attempt to offer the broad outlines of an account of goals and goal-directedness which is consistent with the enactive approach and which explicates several forms of goal-directedness exhibited by human beings. Four stages of cognitive evolution described by Donald are examined for characteristic mechanisms of adaptivity and goal-directedness. Implications for an enactive theory of meaning are discussed. (shrink)

A proposal for the biological grounding of intrinsic teleology and sense-making through the theory of autopoiesis is critically evaluated. Autopoiesis provides a systemic language for speaking about intrinsic teleology but its original formulation needs to be elaborated further in order to explain sense-making. This is done by introducing adaptivity, a many-layered property that allows organisms to regulate themselves with respect to their conditions of viability. Adaptivity leads to more articulated concepts of behaviour, agency, sense-construction, health, and temporality than those given (...) so far by autopoiesis and enaction. These and other implications for understanding the organismic generation of values are explored. (shrink)

A startling amount of intelligent activity can be controlled without reasoning or thought. By tuning the perceptual system to task relevant properties a creature can cope with relatively sophisticated environments without concepts. There is a limit, however, to how far a creature without concepts can go. Rod Brooks, like many ecologically oriented scientists, argues that the vast majority of intelligent behaviour is concept-free. To evaluate this position I consider what special benefits accrue to concept-using creatures. Concepts are either necessary for (...) certain types of perception, learning, and control, or they make those processes computationally simpler. Once a creature has concepts its capacities are vastly multiplied. (shrink)

This paper discusses different approaches incognitive science and artificial intelligenceresearch from the perspective of radicalconstructivism, addressing especially theirrelation to the biologically based theories ofvon Uexküll, Piaget as well as Maturana andVarela. In particular recent work in New AI and adaptive robotics on situated and embodiedintelligence is examined, and we discuss indetail the role of constructive processes asthe basis of situatedness in both robots andliving organisms.

The enactive approach offers a distinctive view of how mental life relates to bodily activity at three levels: bodily self-regulation, sensorimotor coupling, and intersubjective interaction. This paper concentrates on the second level of sensorimotor coupling. An account is given of how the subjectively lived body and the living body of the organism are related via dynamic sensorimotor activity, and it is shown how this account helps to bridge the explanatory gap between consciousness and the brain. Arguments by O'Regan, Noë, and (...) Myin that seek to account for the phenomenal character of perceptual consciousness in terms of ‘bodiliness’ and ‘grabbiness’ are considered. It is suggested that their account does not pay sufficient attention to two other key aspects of perceptual phenomenality: the autonomous nature of the experiencing self or agent, and the pre-reflective nature of bodily self-consciousness. (shrink)

Robotics can be seen as a cognitive technology, assisting us in understanding various aspects of autonomy. In this paper I will investigate a difference between the interpretations of autonomy that exist within robotics and philosophy. Based on a brief review of some historical developments I suggest that within robotics a technical interpretation of autonomy arose, related to the independent performance of tasks. This interpretation is far removed from philosophical analyses of autonomy focusing on the capacity to choose goals for oneself. (...) This difference in interpretation precludes a straightforward debate between philosophers and roboticists about the autonomy of artificial and organic creatures. In order to narrow the gap I will identify a third problem of autonomy, related to the issue of what makes one’s goals genuinely one’s own. I will suggest that it is the body, and the ongoing attempt to maintain its stability, that makes goals belong to the system. This issue could function as a suitable focal point for a debate in which work in robotics can be related to issues in philosophy. Such a debate could contribute to a growing awareness of the way in which our bodies matter to our autonomy. (shrink)

Dualists believe that experiences have neither location nor extension, while reductive and ‘non-reductive’ physicalists (biological naturalists) believe that experiences are really in the brain, producing an apparent impasse in current theories of mind. Enactive and reflexive models of perception try to resolve this impasse with a form of “externalism” that challenges the assumption that experiences must either be nowhere or in the brain. However, they are externalist in very different ways. Insofar as they locate experiences anywhere, enactive models locate conscious (...) phenomenology in the dynamic interaction of organisms with the external world, and in some versions, they reduce conscious phenomenology to such interactions, in the hope that this will resolve the hard problem of consciousness. The reflexive model accepts that experiences of the world result from dynamic organism–environment interactions, but argues that such interactions are preconscious. While the resulting phenomenal world is a consequence of such interactions, it cannot be reduced to them. The reflexive model is externalist in its claim that this external phenomenal world, which we normally think of as the “physical world,” is literally outside the brain. Furthermore, there are no added conscious experiences of the external world inside the brain. In the present paper I present the case for the enactive and reflexive alternatives to more classical views and evaluate their consequences. I argue that, in closing the gap between the phenomenal world and what we normally think of as the physical world, the reflexive model resolves one facet of the hard problem of consciousness. Conversely, while enactive models have useful things to say about percept formation and representation, they fail to address the hard problem of consciousness. (shrink)

Searle's celebrated Chinese Room Argument has shaken the foundations of Artificial Intelligence. Many refutations have been attempted, but none seem convincing. This paper is an attempt to sort out explicitly the assumptions and the logical, methodological and empirical points of disagreement. Searle is shown to have underestimated some features of computer modeling, but the heart of the issue turns out to be an empirical question about the scope and limits of the purely symbolic (computational) model of the mind. Nonsymbolic modeling (...) turns out to be immune to the Chinese Room Argument. The issues discussed include the Total Turing Test, modularity, neural modeling, robotics, causality and the symbol-grounding problem. (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)

In the decade and a half since the appearance of Varela, Thompson and Rosch's workThe Embodied Mind,enactivism has helped to put experience and consciousness, conceived of in a distinctive way, at the forefront of cognitive science. There are at least two major strands within the enactive perspective: a broad view of what it is to be an agent with a mind; and a more focused account of the nature of perception and perceptual experience. The relation between these two strands is (...) discussed, with an overview of the papers presented in this volume. (shrink)