Who Needs Emotions? The Brain Meets the Robot

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eware the passionate robot 359 by x. The changes in the WG are of two kinds: changes in the R values labeling the nodes (this finds echoes in the theory of reinforcement learning: Sutton & Barto, 1998) and actual structural changes in the graph. More recently, we have integrated the WG model with a model of how a rat can still exhibit spatially guided behavior when its hippocampus is lesioned (Guazzelli, Corbacho, Bota, & Arbib, 1998; Guazzelli, Bota, & Arbib, 2001). Figure 12.2 can be seen as the interaction of the following subsystems: 1. The path Sensory Inputs → Parietal Affordances → Premotor Action Selection → Motor Outputs is modulated by drive state (hypothalamus, nucleus accumbens). These interactions are an example of the taxon affordance model (TAM) (Guazzelli, Corbacho, Bota, & Arbib, 1998). 2. Motor outputs affect goal objects in ways that have consequences (gaining food, getting injured, etc.) for the organism. These can affect the internal state of brain and body, updating the drive state. This affects the modulation of (1) in 2 ways: Sensory inputs Dynamic remapping Parietal Hippocampal formation place Affordances Caudoputamen Actor-critic Nucleus accumbens Dopamine neurons Prefrontal world graph Premotor action selection Hypothalamus drive states Motor outputs GOAL OBJECT CONSEQUENCES Internal state Incentives Sensory inputs Figure 12.2. The taxon affordance model-world graph (TAM-WG) has as its basis a system, TAM, for exploiting affordances. The path Sensory Inputs → Parietal Affordances → Premotor Action Selection → Motor Outputs is modulated by drive state. This is elaborated by the WG model, which can use a cognitive map, mediated by interactions between hippocampus and prefrontal cortex, to plan paths to targets which are not currently perceptible.
360 conclusions directly and by providing positive or negative reinforcement for learning processes that will affect perceptual, motor, and other schemas. Figure 12.1 shows the latter in terms of the action of dopamine neurons providing the reinforcement for an actor– critic architecture for reinforcement learning in the basal ganglia (Fellous & Suri, 2003; Prescott, Gurney, & Redgrave, 2003). 3. The hippocampus provides a representation of context, most notably by activation of place cells encoding the animal’s place in space. Dynamic remapping is the process whereby this representation may be updated on the basis of an efferent copy of the animal’s actions even when sensory data on the new context or location may be missing. 4. The hippocampal representation is now seen in greater generality as encoding any situation that is linked to a node in the animal’s WG. Thus, the hippocampus is seen as providing the “you are here” function; it must be integrated with the WG to provide a full cognitive map linking current position with current goals to determine a path through the world which will achieve one or more of them. Thus, premotor action selection becomes embedded within the prefrontal planning behavior associated with the WG, planning which depends crucially on representations of goal states and internal states (inputs not shown) as well as a combination of the current situation and the available affordances (Guazzelli, Bota, & Arbib, 2001). An Evolutionary Approach to Heated Appraisals In item (3) of the analysis of my emotional narrative (see above, “The Narrative Chronologically Rearranged and Annotated”), I stated the following: an emotional state may be “terminated” when a plan is completed which addresses the source of that state; or it may simply dissipate when alternative plans are made. However, if some major goal has been rendered unattainable by some event, the negative emotion associated with the event may not be dissipated by embarking on other plans, since they do not approach the goal. This analysis, and others elsewhere in the above section, seems at first to be very much in the spirit of appraisal theories of emotion (e.g., Ortony, Clore, & Collins, 1988). However, while Ortony, Clore and Collins admit that visceral sensations and facial expressions set emotions apart from other psychological states, they exclude these from their study (Arbib, 1992). They
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TLFeBOOK Who Needs Emotions? The Br
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The Nature of Emotion: Fundamental
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3 Oxford University Press, Inc., pu
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vi preface want their computer prog
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viii preface is required because th
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x preface prefer to read Part III b
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xii contents PART III: ROBOTS 7 Aff
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xiv contributors Jean-Marc Fellous
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4 perspectives RUSSELL: I confess t
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6 perspectives EDISON: Tinkering! Y
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10 perspectives HOW COULD WE TELL I
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12 perspectives This, of course, ra
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14 perspectives of a stimulus (e.g.
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16 perspectives an emotion is neith
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18 perspectives cognitive processes
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20 perspectives that they visually
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22 perspectives A self-model that c
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24 perspectives Brothers, L. (1997)
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30 brains specificity and flexibili
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32 brains It is useful to begin wit
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34 brains the readout of that syste
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36 brains A. 5 NH 4Cl Bacteria in c
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38 brains Although instinctual beha
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40 brains Motivated behavior requir
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42 brains emerged through decades o
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44 brains and gonadal and adrenal s
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46 brains voluntary control of acti
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48 brains A. Total cerebral input t
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50 brains sensory neurons, interneu
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52 brains functions. Niall (1982) n
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54 brains motivation arousal necess
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56 brains serotonergic system is pr
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58 brains as tree jumping (Doudet e
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60 brains then have a system that a
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62 brains heroin and other opiates,
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64 brains benefits that also presen
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66 brains and brain neurotransmitte
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68 brains Cardinaud, B., Gilbert, J
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70 brains Hess, W. R. (1957). The f
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72 brains MacLean, P. D. (1990). Th
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74 brains Pfaus, J. G., Damsma, G.,
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76 brains trained monkeys: Agonist
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80 brains We conclude by discussing
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82 brains to prove, theoretical dis
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84 brains is a mammalian specializa
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86 brains processing circuits to se
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88 brains amygdala) and the control
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90 brains comparison of the amygdal
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92 brains Is the Amygdala Necessary
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94 brains the amygdala to determine
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96 brains The medial prefrontal cor
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98 brains Many questions remain to
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100 brains by the amygdala might be
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102 brains United States, pair up w
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104 brains networks that participat
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106 brains Note Portions of this ch
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108 brains Davidson, R. J., & Irwin
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110 brains mediate emotional respon
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112 brains Salinas, J. A. (1995). I
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114 brains and thalamo-cortico-amyg
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118 brains and flexible in the orbi
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120 brains Pleasure Rage Anger Frus
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122 brains of the eliciting stimulu
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124 brains or a right turn to obtai
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126 brains cortex and basal ganglia
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128 brains tex of recent (episodic)
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130 brains the right value in the c
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132 brains by the process of condit
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134 brains memories to be held in p
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136 brains However, it may be expec
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138 brains Figure 5.4. Some of the
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140 brains acting through the ventr
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142 brains (cutting white matter) w
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144 brains References Alexander, R.
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146 brains Rolls, E. T. (1999a). Th
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148 brains directed to us or when t
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150 brains Specific methods, partly
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152 brains Movements performed by l
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154 brains processing of invariant
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156 brains more about them, their r
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158 brains see Zajonc, 1985), the i
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160 brains The question now arises
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162 brains situations where they ha
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164 brains Estimation of social con
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166 brains Davies, M., & Stone, T.
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168 brains Lhermitte, F. (1983). Ut
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174 robots perform unanticipated ta
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176 Table 7.1. Principal Organism F
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178 robots and cognitive domains. A
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180 robots that they are better tho
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182 robots irregularities or discon
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184 robots 3. A (positive) feeling
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186 robots We consider the well-est
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188 robots disturbed by the approac
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190 robots processing. We view para
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192 robots independent, a value on
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194 robots Implications of the Proc
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196 robots current affective state
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198 robots primitive fear at the ro
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200 robots Gray, J. A. (1990). Brai
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202 robots cesses underlying approa
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204 robots case of CogAff, conjectu
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206 robots some cases and in other
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208 robots DIRECT AND MEDIATED CONT
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210 robots Toward a Useful Ontology
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212 robots different varieties of m
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214 robots Primitive sensors provid
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216 robots Being in a state P of a
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218 robots terms of the ability to
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220 robots Varieties of Affective S
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222 robots Central Perception Actio
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224 robots control, where all the l
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226 robots layer (e.g., observing p
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228 robots are sometimes unclear, i
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230 robots for such a fast-acting s
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232 robots from mental processes ot
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234 robots The majority view in thi
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236 robots Will it be a long-term f
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238 robots or implicitly adopted de
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240 robots some undesirable emotion
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242 robots References Albus, J. S.,
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244 robots Sloman, A. (2001b). Evol
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246 robots state variables such as
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248 robots In order to make robots
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250 robots motivational state also
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252 robots Prey acquisition: This b
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254 robots Figure 9.3. Top photos:
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256 robots especially when young. E
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258 robots Object of Attachment Saf
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260 robots Mean distance to attachm
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262 robots 2003), but the intent is
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264 robots Affective State Emotion
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266 robots Motivational/emotional m
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268 robots Brooks, R. (1986). A rob
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272 robots responsible for perceivi
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274 robots species considered to be
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276 robots This endeavor does not i
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278 robots For example, the person
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280 robots mental states (i.e., int
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282 robots Expression of Affective
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284 robots Negative valence High ar
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286 robots and emotion-related proc
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288 robots For instance, the visual
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290 robots Undesired stimulus Rejec
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292 robots intensity: seek or acqui
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294 robots Table 10.2. Summary of t
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296 robots it up (Breazeal, 2002b).
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298 robots pitch, f o (kHz) pitch,
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300 robots Table 10.3. Overall Clas
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302 robots Each emotion gateway pro
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304 robots Biasing Attention Kismet
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306 robots be to vocalize to the pe
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Page 351 and 352: 334 conclusions handout and pleased
Page 353 and 354: 336 conclusions emotion. How can we
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Page 393 and 394: 376 conclusions Consider a robot th
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Page 397 and 398: 380 conclusions Fellous, J.-M., & S
Page 399 and 400: 382 conclusions Localization of gra
Page 403 and 404: 386 index amygdala back projection,
Page 405 and 406: 388 index cognition (continued) evo
Page 407 and 408: 390 index emotion research (continu
Page 409 and 410: 392 index fear conditioning (contin
Page 411 and 412: 394 index limbic system theory, 80-
Page 413 and 414: 396 index prefrontal cortex and the
Page 415 and 416: 398 index schema theory and Jackson
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