D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
Name: Parameter Space Specifications
Description: For SOIAA to take full advantage of the information-theoretic methodology it is based on, it
would be highly desirable for SOIAA to have additional information available about all the
parameters and data points provided by the CORBYS sensorimotor command loop. This
should address questions such as, but should not be limited to:
� Is the parameter continuous or discrete?
� If discrete, what are the possible state transitions? What is the topology of the
parameter space?
� If continuous, what are the extreme values the variable can assume; what is the
manifold structure of the parameter space?
� What is the resolution of the physical sensor measuring the continuous variable?
� What is the value measured in (meter, degrees, etc)?
Reason / Comments: To apply the information-theoretic methodology to full effect, it is necessary that
quantitative, low-level data is made available to the SOIAA component.
Indicative priority Desirable
Requirement No. SOIAA4
Name: Structural Information regarding Parameter Space
Description:
- An operational structure formalising the effects of and constraints on actions (outputs) on
the values of the overall system, formalised in mathematical terms, such as e.g. semigroup
or Lie group action, invariances, and similar;
- An interventional structure indicating which variables are causally subject to change if a
certain action (output) variable is changed. One form in which this could be expressed is as a
Causal Bayesian Network on the variable space.
If such explicit structures are not available a priori, weaker substitutes which can be derived
from empirical data could be used instead, among others e.g.:
� Laplacian models of data (Kondor and Lafferty 2002)
� graphlet library (e.g. Kondor, Shervashidze, Borgwardt 2009)
Reason / Comments: It would be an advantage if the SOIAA component had access to further information about
the structure of parameter space.
Indicative priority Desirable
Output
Requirement No. SOIAA5
Name: Self-motivated movement and goal generator
Description: Variations of Klyubin’s (2004, 2007) Empowerment methodology are used to identify both,
salient, high empowered states and trajectories in the state space of the human-robot system.
Reason / Comments: Discussion with the relevant partners is needed to determine the exact specifications of this
state space.
Indicative priority Mandatory
Requirement No. SOIAA6
Name: Models and algorithms for the identification and anticipation of human purposeful behaviour
Description: The “Relevant Goal Information” approach, a specific kind of conditional Bayesian
modelling, will be used to identify the most likely candidates for sub goals from the salient,
high empowered output states of SOIAA5.
Reason / Comments: This module is dependent on SOIAA5
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