Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis
In cognitive science, Theory of Mind (ToM) is the mental faculty of assessing intentions and beliefs of others and requires, in part, to distinguish incoming sensorimotor (SM) signals and, accordingly, attribute these to either the self-model, the model of the other, or one pertaining to the externa...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-09-01
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| Series: | Frontiers in Human Neuroscience |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fnhum.2021.560657/full |
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| author | Berkay Demirel Clément Moulin-Frier Xerxes D. Arsiwalla Xerxes D. Arsiwalla Paul F. M. J. Verschure Paul F. M. J. Verschure Paul F. M. J. Verschure Martí Sánchez-Fibla |
| author_facet | Berkay Demirel Clément Moulin-Frier Xerxes D. Arsiwalla Xerxes D. Arsiwalla Paul F. M. J. Verschure Paul F. M. J. Verschure Paul F. M. J. Verschure Martí Sánchez-Fibla |
| author_sort | Berkay Demirel |
| collection | DOAJ |
| description | In cognitive science, Theory of Mind (ToM) is the mental faculty of assessing intentions and beliefs of others and requires, in part, to distinguish incoming sensorimotor (SM) signals and, accordingly, attribute these to either the self-model, the model of the other, or one pertaining to the external world, including inanimate objects. To gain an understanding of this mechanism, we perform a computational analysis of SM interactions in a dual-arm robotic setup. Our main contribution is that, under the common fate principle, a correlation analysis of the velocities of visual pivots is shown to be sufficient to characterize "the self" (including proximo-distal arm-joint dependencies) and to assess motor to sensory influences, and "the other" by computing clusters in the correlation dependency graph. A correlational analysis, however, is not sufficient to assess the non-symmetric/directed dependencies required to infer autonomy, the ability of entities to move by themselves. We subsequently validate 3 measures that can potentially quantify a metric for autonomy: Granger causality (GC), transfer entropy (TE), as well as a novel “Acceleration Transfer” (AT) measure, which is an instantaneous measure that computes the estimated instantaneous transfer of acceleration between visual features, from which one can compute a directed SM graph. Subsequently, autonomy is characterized by the sink nodes in this directed graph. This study results show that although TE can capture the directional dependencies, a rectified subtraction operation denoted, in this study, as AT is both sufficient and computationally cheaper. |
| first_indexed | 2024-12-22T01:40:08Z |
| format | Article |
| id | doaj.art-283865fce167447bb0ac7cd302cbfee2 |
| institution | Directory Open Access Journal |
| issn | 1662-5161 |
| language | English |
| last_indexed | 2024-12-22T01:40:08Z |
| publishDate | 2021-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Human Neuroscience |
| spelling | doaj.art-283865fce167447bb0ac7cd302cbfee22022-12-21T18:43:16ZengFrontiers Media S.A.Frontiers in Human Neuroscience1662-51612021-09-011510.3389/fnhum.2021.560657560657Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer AnalysisBerkay Demirel0Clément Moulin-Frier1Xerxes D. Arsiwalla2Xerxes D. Arsiwalla3Paul F. M. J. Verschure4Paul F. M. J. Verschure5Paul F. M. J. Verschure6Martí Sánchez-Fibla7Artificial Intelligence and Machine Learning Group, Department of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, SpainFlowers, Inria and Ensta, University of Bordeaux and Paris Tech, Paris, FranceDepartment of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, SpainLaboratory of Synthetic, Perceptive, Emotive and Cognitive Systems, Institute for Bioengineering of Catalonia, Barcelona Institute of Science and Technology, Barcelona, SpainLaboratory of Synthetic, Perceptive, Emotive and Cognitive Systems, Institute for Bioengineering of Catalonia, Barcelona Institute of Science and Technology, Barcelona, SpainThe Barcelona Institute of Science and Technology, Barcelona, SpainCatalan Institution for Research and Advanced Studies (ICREA), Barcelona, SpainArtificial Intelligence and Machine Learning Group, Department of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, SpainIn cognitive science, Theory of Mind (ToM) is the mental faculty of assessing intentions and beliefs of others and requires, in part, to distinguish incoming sensorimotor (SM) signals and, accordingly, attribute these to either the self-model, the model of the other, or one pertaining to the external world, including inanimate objects. To gain an understanding of this mechanism, we perform a computational analysis of SM interactions in a dual-arm robotic setup. Our main contribution is that, under the common fate principle, a correlation analysis of the velocities of visual pivots is shown to be sufficient to characterize "the self" (including proximo-distal arm-joint dependencies) and to assess motor to sensory influences, and "the other" by computing clusters in the correlation dependency graph. A correlational analysis, however, is not sufficient to assess the non-symmetric/directed dependencies required to infer autonomy, the ability of entities to move by themselves. We subsequently validate 3 measures that can potentially quantify a metric for autonomy: Granger causality (GC), transfer entropy (TE), as well as a novel “Acceleration Transfer” (AT) measure, which is an instantaneous measure that computes the estimated instantaneous transfer of acceleration between visual features, from which one can compute a directed SM graph. Subsequently, autonomy is characterized by the sink nodes in this directed graph. This study results show that although TE can capture the directional dependencies, a rectified subtraction operation denoted, in this study, as AT is both sufficient and computationally cheaper.https://www.frontiersin.org/articles/10.3389/fnhum.2021.560657/fulltheory of mindcognitive developmentautonomyattentionagencysensorimotor learning |
| spellingShingle | Berkay Demirel Clément Moulin-Frier Xerxes D. Arsiwalla Xerxes D. Arsiwalla Paul F. M. J. Verschure Paul F. M. J. Verschure Paul F. M. J. Verschure Martí Sánchez-Fibla Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis Frontiers in Human Neuroscience theory of mind cognitive development autonomy attention agency sensorimotor learning |
| title | Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis |
| title_full | Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis |
| title_fullStr | Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis |
| title_full_unstemmed | Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis |
| title_short | Distinguishing Self, Other, and Autonomy From Visual Feedback: A Combined Correlation and Acceleration Transfer Analysis |
| title_sort | distinguishing self other and autonomy from visual feedback a combined correlation and acceleration transfer analysis |
| topic | theory of mind cognitive development autonomy attention agency sensorimotor learning |
| url | https://www.frontiersin.org/articles/10.3389/fnhum.2021.560657/full |
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