1. Prerequisites for a Theory of Intelligence - G. Ananthakrishnan -Simon Benjaminsson

2. Popper Vs Feyerabend Popper  The Logic of Scientific Discovery  Theory has temporary status  Falsifiability of a theory  Against psuedo- theories like Freudian psychology etc. Feyerabend Against Method No precise rules Anything goes Anarchist approach to scientific theory

3. Abstraction, Algorithms, Dynamical Systems etc. Abstraction is necessary  Principles of systems can be predicted, but specific system needs some empirical values Can a theory of intelligence be algorithmic?  Can we have an algorithm which computes and thereby explains all intelligence? Dynamic systems – chaos theory  Structured systems emerge from chaotic conditions Analytical component + Design aspect

4. Diversity (exploitation) - Compliance Soft Rules  Choice about compliance  Syntax Vs Semantics & Grammar Vs Content  Grammatically incorrect – no compliance  Grammatically correct, but repetitive – no diversity Hard Rules  Laws of Physics  No choice but to comply  Only possible to exploit  Rock only complies, does not exploit

5. Exploitation and Knowledge Rock flowing down river –  does not exploit, no diversity,  only complies with fluid dynamics Asimo – robot that can dance, walk etc. – diversity, exploits friction and gravity Fish – exploits fluid dynamics  Do they know they are exploiting? Humans write poems, exploiting some figures of speech, possibly breaking some soft rules  Do we know? Do we need to know?

6. Stability-Flexibility (accommodation - assimilation) Category learning  Representation of the world  Do we need only one example or several examples?  Role of the right features?  Categorizing unknown objects  Soft categorization  Exploration-Exploitation

7. Frame-of-reference problem An intelligent agent  Conforms to rules/laws (Hard or Soft)  Exploits the environment  Exhibits diverse behavior  May or may not be aware of this behavior Complex behavior with simple rules –  e.g., beach ant walks around puddles, twigs etc. without knowing what the obstacles are From ant's perspective – simple rules From observer's perspective – complex behavior

8. Swiss Robots The Swiss Robots Demo The Swiss Robots Demo Simple rules Unexpected behavior Robots do not see cubes Intelligent? - Depends on perspective Different location of sensors?

9. Interaction - Emergence Robot's perspective – reaction to sensory stimulus Our perspective – cleaning up of Styrofoam cubes Effect of interaction of internal mechanism with environment Behavior cannot be estimated solely by the internal mechanism – embodiment, environment Emergence of complexity from simple rules and interaction with environment What if cubes were heavier, what if sensor was placed differently, what is the cubes were slightly larger or slightly smaller?

10. Robot Puppy Motor and spring mechanism copies the gait of a puppy Uses pressure sensors on the feet to sense the ground Hip and shoulders are moved periodically The dog sees the world from the view of its sensors Complex gait mechanism from simple principles Pressure Sensors Theo jansen's kinetic animals New Species, Ted TalkNew Species, Ted Talk (2.14 mins)

11. Over to Simon

12. Articulation- Acoustics Motor movement  Visual representation  Spatial-to-Motor reference frame  Invariant (for the same posture)  Bias for certain arm postures Articulator movement  Acoustic representation  Invariant? e.g. American /r/  Highly non-linear  Frame-of-reference?

13. Role of Embodiment  Vocal-tract to Sound (Maeda Model) – Application of fluid dynamics and computation of tube resonances.  Control of vocal-tract parameters – Inertia of articulators – Muscles that control articulation – Degrees of freedom for articulation  Planning of articulation – Targets and paths Acoustic/Perceptual features

14. The Diva System GOF Neural Network Partial Embodiment Embodiment ?

15. Reference Frames Articulatory – Degrees of freedom Constriction – Motor equivalence – One-many mapping with Articulatory frame Acoustic/Perceptual – Formant frequency differences

16. Variance in Constriction

17. Some Equations Highly Non- linear

18. Solving a specific problem – Variation in /r/

19. Explained by DIVA Articulatory position for phoneme /g/ Articulatory position for phoneme /d/ Resulting configuration of /r/ Bunched Resulting configuration of /r/ Retroflexed

20. Some videos – Other applications of DIVA Random Babbling Reduplicated Babbling

21. Some videos – Other applications of DIVA Attempt 1 Attempt 2 Attempt 3

22. Some videos – Other applications of DIVA Simulation of Stuttering (as predicted by DIVA)

23. Thank You Any Questions?