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Quantifying morphological computation
Publikationstyp
Journal Article
Date Issued
2013-05-21
Sprache
English
Author(s)
Journal
Volume
15
Issue
5
Start Page
1887
End Page
1915
Citation
Entropy 15 (5): 1887-1915 (2013)
Publisher DOI
Scopus ID
ArXiv ID
Publisher
MDPI
The field of embodied intelligence emphasises the importance of the morphology and environment with respect to the behaviour of a cognitive system. The contribution of the morphology to the behaviour, commonly known as morphological computation, is well-recognised in this community. We believe that the field would benefit from a formalisation of this concept as we would like to ask how much the morphology and the environment contribute to an embodied agent's behaviour, or how an embodied agent can maximise the exploitation of its morphology within its environment. In this work we derive two concepts of measuring morphological computation, and we discuss their relation to the Information Bottleneck Method. The first concepts asks how much the world contributes to the overall behaviour and the second concept asks how much the agent's action contributes to a behaviour. Various measures are derived from the concepts and validated in two experiments which highlight their strengths and weaknesses.
Subjects
Embodied artificial intelligence
Information bottleneck method
Information theory
Morphological computation
Sensori-motor loop
Computer Science - Artificial Intelligence
Computer Science - Artificial Intelligence
Computer Science - Information Theory
Mathematics - Information Theory
DDC Class
004: Informatik
510: Mathematik