Class Schedule and Reading List

ComS 610 AS: Developmental Robotics
Instructor: Alexander Stoytchev

NOTE: All books in the reading list (except the ones marked as 'optional reading') are placed on reserve in Parks Library. Click here to see the list (password required outside the ISU network).

INTRODUCTION (1 1/2 weeks)

Overview of the class

Why Developmental Robotics?

• Zlatev, J., and Balkenius, C. (2001). ``Introduction: Why Epigenetic Robotics?'' In Proceedings of the First International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems. Balkenius, C., Zlatev, J., Kozima, H., Dautenhahn, K., and Breazeal, C. (Eds.), Lund University Cognitive Studies, 85, pp. 1-4.
• Juyang Weng, James McClelland, Alex Pentland, Olaf Sporns, Ida Stockman, Mriganka Sur and Esther Thelen (2001), ``Autonomous Mental Development by Robots and Animals'', Science, v. 291, no. 5504, pp. 599-600.

Quick Overview of Robotics

Early Applications and Architectures

• Ronald C. Arkin (1998). ``Behavior-Based Robotics'', Ch 1: Whence Behavior?, MIT Press, pp. 1-29. (on reserve in Parks Library)
• Hans Moravec, "Robots: Re-evolving Mind".

Industrial Robots

Autonomous Robots

Behavior-Based Robotics

• Ronald C. Arkin (1998). ``Behavior-Based Robotics'', Ch 3: Robot Behavior, MIT Press, pp. 65-121. (on reserve in Parks Library)
• R. Brooks (1986). ``A Robust Layered Control System for a Mobile Robot'', MIT AI Memo 864, Vol RA-2, No. 1. p. 14-23
• R. Brooks (1991). "Intelligence Without Representation", Artificial Intelligence, Volume 47 , Issue 1-3
• Valentino Braitenberg (1984). ``Vehicles: Experiments in Synthetic Psychology'', MIT Press, Cambridge,MA. pp. 1-25. (on reserve in Parks Library)
• (Optional Reading) History of Behaviorism, Stanford Encyclopedia of Philosophy.
• (Optional Reading) R. Brooks (1999) "Cambrian Intelligence: The Early History of the New AI", MIT Press.

Future trends

• (Optional reading) Hans Moravec (1998). "ROBOT: Mere Machine to Transcendent Mind", Oxford University Press, Inc.
• (Optional reading) Rodney Brooks (2002). "Flesh and Machines: How Robots Will Change Us", Pantheon Books
• (Optional reading) Peter Menzel and Faith D'Alusio (2000). "Robosapiens: Evolution of a New Species", Cambridge, MA: MIT Press.


WHAT IS INTELLIGENCE? (2 weeks)

What is wrong with AI?

• D. McDermott (1981). "Artificial intelligence meets natural stupidity". Ch. 5 in Mind Design: Philosophy, Psychology, Artificial Intelligence, pp. 143-160, MIT Press.
• Rich Sutton (2001). "What's Wrong with Artificial Intelligence".
• Jeff Hawkins and Sandra Blakeslee, "On Intelligence: How a New Understanding of the Brain Will Lead to the Creation of Truly Intelligent Machines", Henry Holt, pp. 1-64, 2004.

A new framework of intelligence

• Jeff Hawkins and Sandra Blakeslee, "On Intelligence: How a New Understanding of the Brain Will Lead to the Creation of Truly Intelligent Machines", Henry Holt, pp. 65-137, 2004.
• Rich Sutton (2000). "Mind is about conditional predictions".
• Rich Sutton (2001). "Verification, The Key to AI".
• Rich Sutton (2001). "Verification".

A new framework of intelligence (part 2)

• Jeff Hawkins and Sandra Blakeslee, "On Intelligence: How a New Understanding of the Brain Will Lead to the Creation of Truly Intelligent Machines", Henry Holt, pp. 138-235, 2004.
• New Scientist (2005). Cover story: "Why you have at least 21 senses", January 29, pp. 33-43.


EMBODIMENT & THE SENSE OF SELF (2 weeks)

Phantoms in the Brain

• Ramachandran, V.S. and S. Blakeslee (1998). ``Phantoms in the Brain: Probing the Mysteries of the Human Mind'', William Morrow, New York. pp. 1-62. (on reserve in Parks Library)
• (Optional Reading) Melzack, R. (1992). ``Phantom Limbs'', Scientific American, 266, April, pp. 120-126.

Self Recognition

• Gallup, G. G., (1970). ``Chimpanzees: self-recognition'', Science, Jan 2, 167(914), pp. 86-87.
• Barth, J., Povinelli, D.J., & Cant, J.G.H. (2004). "Bodily Origins of SELF", In D. Beike, J. L. Lampinen, & D. A. Behrend (Eds.), The Self and Memory (pp. 11-43). New York: Psychology Press.
• Watson, J. S., (1994). "Detection of self: The perfect algorithm." In S. Parker, R. Mitchell, and M. Boccia (eds). Self-Awareness in Animals and Humans: Developmental Perspectives. Cambridge: Cambridge University Press.
• Philipp Michel, Kevin Gold, and Brian Scassellati (2004). ``Motion-Based Robotic Self-Recognition'', In IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan.
• (Optional Reading) Gallup, G., Anderson, J., and Shillito, D. (2002). ``The Mirror Test''. In Bekoff, M., Allen, C., and Burghardt,G. (eds). The Cognitive Animal: Empirical and Theoretical Perspectives on Animal Cognition. MIT Press, Cambridge, Mass.
• (Optional Reading) Rochat, P. and Striano, T. (2002). ``Who's in the mirror? Self-other discrimination in specular images by four-and nine-month-old infants'', Child Development, 73(1), pp. 35-46.
• (Optional Reading) Diana Reiss and Lori Marino (2001)."Mirror self-recognition in the bottlenose dolphin: A case of cognitive convergence", Proceedings of the National Academy of Sciences (PNAS), vol. 98, no. 10.
• (Optional Reading) Povinelli and Cant (1995). "Arboreal clambering and the evolution of self-conception", The Quarterly Review of Biology (Vol.70 No.4, p.393-421).

The Sense of Self/Body Schema (part 1: evidence from neuroscience)

• Iriki A, Tanaka M, Obayashi S, Iwamura Y. (2001). "Self-images in the video monitor coded by monkey intraparietal neurons.", Neurosci Res. 2001 Jun;40(2):163-73.
• Graziano, M. S., Cooke D. F., and Taylor, C. S. (2000). ``Coding the location of the arm by sight''. Science. 290, pp. 1782-6.
• Graziano, Taylor, C. S., and Moore, T. (2002). "Complex movements evoked by microstimulation of precentral cortex". Neuron, May 30; 34(5):673-4.

The Sense of Self/Body Schema (part 2: computational models)

• P. Morasso and V. Sanguineti (1995). ``Self-organizing body-schema for motor planning'', Journal of Motor Behavior, vol. 27, no. 1, pp. 52-66.
• (Optional Reading) Alex Pouget, Peter Dayan, and Rich Zemel(2003). " Inference and computation with population codes", Annual Review of Neuroscience 26, 381-410.
• (Optional Reading) Richard S. Zemel, Peter Dayan, and Alexandre Pouget (1998). "Probabilistic Interpretation of Population Codes", Neural Computation, 10(2), 403-430.
• (Optional Reading) Christopher G. Atkeson, Andrew W. Moore, Stefan Schaal (1996). "Locally Weighted Learning", Artificial Intelligence Review.
• (Optional Reading) Stoytchev (2003). "Computational Model for an Extendable Robot Body Schema", Georgia Institute of Technology, College of Computing Technical Report GIT-CC-03-44, Oct. 21, 2003.
• (Optional Reading) Yoshikawa, Yuichiro and Kawanishi, Hiroyoshi and Asada, Minoru and Hosoda, Koh (2002). "Body Scheme Acquisition by Cross Modal Map Learning among Tactile, Visual, and Proprioceptive Spaces", In Prince, Christopher G. and Demiris, Yiannis and Marom, Yuval and Kozima, Hideki and Balkenius, Christian, Eds. Proceedings Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems 94, pages pp. 181-184, Edinburgh, Scotland.


THEORIES OF DEVELOPMENT (1/2 week)

• The nature v.s. nurture debate
• William Crain (1999). ``Theories of Development: Concepts and Applications'', Ch 3, Ethological Theories, Prentice Hall, Upper Saddle River, NJ. pp. 33-63.
• William Crain (1999). ``Theories of Development: Concepts and Applications'', Ch 6, Piaget's Cognitive-Developmental Theory, Prentice Hall, Upper Saddle River, NJ. pp. 110-146.
• (Optional Reading) William Crain (1999). ``Theories of Development: Concepts and Applications'', Ch 1, Early Theories, Prentice Hall, Upper Saddle River, NJ. pp. 1-19.
• (Optional Reading) Piaget, J. (1952). ``The Origins of Intelligence in Children'', Norton, New York.


OBJECTS AND THEIR AFFORDANCES (1 week)

Affordances

• Gibson, J.J. (1977). ``The Theory of Affordances''. Chapter in: Perceiving, acting, and knowing, R. E. Shaw and J. Bransford (eds), Lawrence Erlbaum, Hillsdale.
• Glenberg, A. (1997). "What memory is for". Behavioral and Brain Sciences, 20 (1): 1-55. (read only pages 1-19)
• (Optional Reading) ``The Purple Perils: A selection of James J. Gibson's unpublished essays on the psychology of perception''.

Learning of Affordances

• Gibson, E. J. (1988). ``Exploratory behavior in the development of perceiving, acting, and the acquiring of knowledge'', Annual Review of Psychology, vol. 39, pp. 1-41.
• E. Krotkov (1995). ``Perception of Material Properties by Robotic Probing: Preliminary Investigations'', International Joint Conference on Artificial Intelligence (IJCAI), pp. 88-94.
• Paul Fitzpatrick, Giorgio Metta, Lorenzo Natale, Sajit Rao, Giulio Sandini (2003). ``Learning about objects through action - initial steps towards artificial cognition''. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 12 - 17.
• (Optional Reading) T. G. Power (2000). "Play and Exploration in Children and Animals", Mahwah, NJ: Lawrence Erlbaum Associates, Publishers. pp. 15-54. (on reserve in Parks Library)


TOOL USE (1 1/2 weeks)

• T. G. Power (2000). "Play and Exploration in Children and Animals", Mahwah, NJ: Lawrence Erlbaum Associates, Publishers. pp. 15-54. (on reserve in Parks Library)
• Hidetoshi Ishibashi, Sayaka Hihara and Atsushi Iriki (2000). ``Acquisition and development of monkey tool-use: behavioral and kinematic analyses'', Canadian Journal of Physiology and Pharmacology vol.78, pp. 958-966.
• Stoytchev, A. (2005). "Behavior-Grounded Representation of Tool Affordances", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 18-22.
• Maravita, A., Iriki, A. (2004). "Tools for the body (schema)", Trends in Cognitive Sciences, Vol. 8, No. 2. (February 2004), pp. 79-86.
• (Optional Reading) Bogoni, L. and Bajcsy, R.(1995). ``Interactive recognition and representation of functionality'', Computer Vision and Image Understanding, vol. 62(2), pp. 194-214.
• (Optional Reading) Iriki A, Tanaka M, Iwamura Y. (1996). "Coding of modified body schema during tool use by macaque postcentral neurones", Neuroreport. 1996 Oct 2;7(14):2325-30.
• (Optional Reading) Beck, B. (1980). "Animal Tool behavior: The use and manufacture of tools by animals", Garland STMP Press, NY. (excerpt).
• (Optional Reading) W. Köhler, "The mentality of apes". Harcourt, Brace, and Co., 1931.
• (Optional Reading) D. Povinelli, J. Reaux, L. Theall, and S. Giambrone (2000). "Folk Physics for Apes: The Chimpanzee's theory of how the world works". Oxford Univ. Press.
• (Optional Reading) E. Visalberghi and L. Trinca (1989). "Tool use in capuchin monkeys: distinguishing between performing and understanding," Primates, vol. 30, pp. 511-21.


NO CLASS (1/2 week)


SPACE AND SPATIAL FRAMES OF REFERENCE (1 1/2 weeks)

Spatial Representations in Infancy

• Nora S. Newcombe and Janellen Huttenlocher, (2000). Making space : the development of spatial representation and reasoning. MIT Press, Cambridge, Mass. Chapters 1-3.

Coordinate transformations

• Gallistel, C. R., (1999). ``Coordinate transformations in the genesis of directed action''. In B. O. M. Bly and D. E. Rummelhart (Eds.), Cognitive science, Academic, New York, pp. 1-42.
• Sparks, D.L., Lee, C. and Rohrer, W.H. (1990) ``Population coding of the direction, amplitude, and velocity of saccadic eye movements by neurons in the superior colliculus''. Cold Spring Harbor Symposia on Quantitative Biology, LV, pp. 805- 811.
• (Optional Reading) Harvey Lipkin (2004). ``Displacement Analysis for Planar Robots.''
• (Optional Reading) Harvey Lipkin (2004). ``Forward and reverse displacement analysis for the anthropomorphic robot.''
• (Optional Reading) Tutis Vilis and Douglas Tweed. ``How your eyes rotate in three dimensions.''
• (Optional Reading) Luis Ibanez (2001). ``Tutorial on Quaternions (part I).''


SENSING AND SENSORY ORGANIZATION (2 weeks)

Vision

• J. K. O'Regan and A. Noe, (2001). ``A sensorimotor account of vision and visual consciousness'', Behavioral and Brain Sciences, 24(5), 939- 1011.

Sensory Self-organization

• David Pierce and Benjamin Kuipers (1997). ``Map learning with uninterpreted sensors and effectors''. Artificial Intelligence Journal, 92, pp. 169-229.

Sensory Substitution

• Andy Clark, (2003). "Who are we?", Ch. 5 in Natural-Born Cyborgs: Minds, Technologies, and the Future of Human Intelligence, Oxford University Press.
• P. Bach-y-Rita, C. C. Collins, F. Sauders, B. White, and L. Scadden, (1969), ``Vision substitution by tactile image projection''. Nature, 221, pp. 963-964.
• Paul Bach-y-Rita and Stephen W. Kercel (2003). ``Sensory substitution and the human-machine interface'', Trends Cogn Sci, Dec;7(12):541-6.


SOCIAL LEARNING (1 1/2 weeks)

Scaffolding

• Breazeal, C. (2002). ``Designing Sociable Robots'', MIT Press. (excerpt)
• Vygotsky, L.S. (1978). ``Mind and society: The development of higher mental processes''. Harvard University Press, Cambridge, MA. (excerpt)

Theory of Mind

• Brian Scassellati (2000). "Theory of Mind for a Humanoid Robot," In the First IEEE/RSJ International Conference on Humanoid Robotics.
• Heyes, C. M. (1998). ``Theory of mind in nonhuman primates''. Behavioral and Brain Sciences, 21 (1): 101-134.

Imitation

• Schaal, S. (1999). ``Is imitation learning the route to humanoid robots?'', Trends in Cognitive Sciences, 3, 6, pp.233-242.
• Maja J Mataric (2000). "Getting Humanoids to Move and Imitate", IEEE Intelligent Systems, July, pp. 18-24.
• Aude Billard and Maja J Mataric (2001). "Learning human arm movements by imitation: Evaluation of a biologically inspired connectionist architecture", Robotics and Autonomous Systems, 37:2-3, Nov 30, pp. 145-160.

Language Acquisition

• Deb Roy (2005). ``Grounding Words in Perception and Action: Insights from Computational Models''. In press, Trends in Cognitive Science.
• Deb Roy (submitted) ``Grounding Language in the World: Schema Theory Meets Semiotics." (In review, J. Artificial Intelligence).
• Billard, A. and Dautenhahn, K. (1999). "Experiments in learning by imitation - grounding and use of communication in robotic agents. Adaptive Behavior, 7(3/4):415--438.


THANKSGIVING BREAK (1 week)


FINAL PROJECT PRESENTATIONS (1 week)


TOTAL: 16 weeks