To function well in an unpredictable environment using unreliable components, a system must have a high degree of robustness. Robustness is fundamental to biological systems and is an objective in the design of engineered systems such as airplane engines and buildings. Cognitive systems, like biological and engineered systems, exist within variable environments. This raises the question, how do cognitive systems achieve similarly high degrees of robustness? The aim of this study was to identify a set of mechanisms that enhance robustness (...) in cognitive systems. We identify three mechanisms that enhance robustness in biological and engineered systems: system control, redundancy, and adaptability. After surveying the psychological literature for evidence of these mechanisms, we provide simulations illustrating how each contributes to robust cognition in a different psychological domain: psychomotor vigilance, semantic memory, and strategy selection. These simulations highlight features of a mathematical approach for quantifying robustness, and they provide concrete examples of mechanisms for robust cognition. (shrink)

A number of studies have shown that phonetic peculiarities, especially at the coarticulation level, exist in the disfluent as well as in the perceptively fluent speech of people who stutter (PWS). However, results from fluent speech are disparate and not easily interpretable. Are the coarticulatory features a manifestation of the disorder, or rather a compensation for the disorder itself? Our purpose is to investigate the coarticulatory behavior in the fluent speech of PWS in the attempt to answer the question on (...) its symptomatic or adaptive nature. In order to achieve this, we have studied the speech of 21 adult PWS (10 French and 11 Italian) compared to that of 20 fluent adults (10 French and 10 Italian). The participants had to repeat simple CV syllables in short carrier sentences, where C = /b, d, g/ and V = /a, i, u/. Crucially, this repetition task was performed under a condition with normal auditory feedback (NAF) for both the groups, and under a fluency-enhancing condition (only for PWS) due to an altered auditory feedback (AAF). The degree of coarticulation was measured by means of the Locus Equations (LE). Under NAF conditions, the coarticulation degree observed in fluent PWS speech is lower than that of the PWNS, and, more importantly, in AAF condition, PWS coarticulation appears even weaker than in the NAF condition. The latter result allows to interpret the low degree of coarticulation found in fluent speech of PWS under NAF condition as a compensation for the disorder, based on the fact that coarticulation is weaker in fluency-enhancing conditions. Since a lower degree of coarticulation is associated to a greater separation between the places of articulation of the consonant and the vowel, these results are compatible with the hypothesis that larger articulatory movements could be responsible for the stabilization of the PWS speech motor system, increasing the kinesthetic feedback from the effector system. This interpretation shares with a number of relatively recent proposal the idea that stuttering derives from an impaired feedforward (open-loop) control system, which makes PWS rely more heavily on a feedback-based (closed loop) motor control strategy. (shrink)

We discuss experimental support for the existence of a corollary discharge signal of attention movement control and its formulation in terms of the corollary discharge of attention model of attention movement . The data is from fMRI, MEG and EEG activity observed about 200 ms after stimulus onset in various attention paradigms and in which the activity is mainly sited in parietal and extra-striate visual areas. Moreover the data arises from neural activity observed before report of a subject’s experience occurs. (...) The overall experimental support for the existence of a copy of the attention movement control signal generates, it is suggested, a viable route to explore the relation between this signal and human consciousness, as concluded in the paper. (shrink)

Starting from a decidedly Frijdian perspective on emotion in action, we adopt neurocognitive theories of action control to analyze the mechanisms through which emotional action arises. Appraisal of events vis-à-vis concerns gives rise to a determinate motive to establish a specific state of the world; the pragmatic idea of the action’s effects incurs the valuation of action options and a change in action readiness in the form of incipient ideomotor capture of the selected action. Forward modeling of the sensory consequences (...) of the selected action option allows for the evaluation and fine-tuning of anticipated action effects, which renders the emotional action impulsive yet purposive. This novel theoretical synthesis depicts the cornerstone principles for a mechanistic view on emotion in action. (shrink)

Why is interaction so simple? This article presents a theory of interaction based on the use of shared representations as “coordination tools” (e.g., roundabouts that facilitate coordination of drivers). By aligning their representations (intentionally or unintentionally), interacting agents help one another to solve interaction problems in that they remain predictable, and offer cues for action selection and goal monitoring. We illustrate how this strategy works in a joint task (building together a tower of bricks) and discuss its requirements from a (...) computational viewpoint. (shrink)

We propose a view of embodied representations that is alternative to both symbolic/linguistic approaches and purely sensorimotor views of cognition, and can account for procedural and declarative knowledge manipulation. In accordance with recent evidence in cognitive neuroscience and psychology, we argue that anticipatory and simulative mechanisms, which arose during evolution for action control and not for cognition, determined the first form of representational content and were exapted for increasingly sophisticated cognitive uses. In particular, procedural and declarative forms of knowledge can (...) be explained, respectively, in terms of on-line sensorimotor anticipation and off-line simulations of potential actions, which can give access to tacit knowledge and make it explicit. That is, mechanisms that evolved for the on-line prediction of the consequences of one's own actions (i.e. forward models) determine a (procedural) form of representation, and became exapted for off-line use. They can therefore be used to produce (declarative) knowledge of the world, by running a simulation of the action that would produce the relevant information. We conclude by discussing how embodied representations afford a form of internal manipulation that can be described as internalized situated action. (shrink)

Humans and other animals are able not only to coordinate their actions with their current sensorimotor state, but also to imagine, plan and act in view of the future, and to realize distal goals. In this paper we discuss whether or not their future-oriented conducts imply (future-oriented) representations. We illustrate the role played by anticipatory mechanisms in natural and artificial agents, and we propose a notion of representation that is grounded in the agent’s predictive capabilities. Therefore, we argue that the (...) ability that characterizes and defines a true cognitive mind, as opposed to a merely adaptive system, is that of building representations of the non-existent, of what is not currently (yet) true or perceivable, of what is desired. A real mental activity begins when the organism is able to endogenously (i.e. not as the consequence of current perceptual stimuli) produce an internal representation of the world in order to select and guide its conduct goal-directed: the mind serves to coordinate with the future. (shrink)

The fundamental cognitive problem for active organisms is to decide what to do next in a changing environment. In this article, we analyze motor and action control in computational models that utilize reinforcement learning (RL) algorithms. In reinforcement learning, action control is governed by an action selection policy that maximizes the expected future reward in light of a predictive world model. In this paper we argue that RL provides a way to explicate the so-called action-oriented views of cognitive systems in (...) representational terms. (shrink)

Current models of speech motor control rely on either trajectory-based control (DIVA, GEPPETO, ACT) or a dynamical systems approach based on feedback control (Task Dynamics, FACTS). While both approaches have provided insights into the speech motor system, it is difficult to connect these findings across models given the distinct theoretical and computational bases of the two approaches. We propose a new extension of the most widely used dynamical systems approach, Task Dynamics, that incorporates many of the strengths of trajectory-based approaches, (...) providing a way to bridge the theoretical divide between what have been two separate approaches to understanding speech motor control. The Task Dynamics (TD) model posits that speech gestures are governed by point attractor dynamics consistent with a critically damped harmonic oscillator. Kinematic trajectories associated with such gestures should therefore be consistent with a second-order dynamical system, possibly modified by blending with temporally overlapping gestures or altering oscillator parameters. This account of observed kinematics is powerful and theoretically appealing, but may be insufficient to account for deviations from predicted kinematics – i.e., changes produced in response to some external perturbations to the jaw, changes in control during acquisition and development, or effects of word/syllable frequency. Optimization, such as would be needed to minimize articulatory effort, is also incompatible with the current TD model, though the idea that the speech production systems economizes effort has a long history and, importantly, also plays a critical role in current theories of domain-general human motor control. To address these issues, we use Dynamic Movement Primitives (DMPs) to expand a dynamical systems framework for speech motor control to allow modification of kinematic trajectories by incorporating a simple, learnable forcing term into existing point attractor dynamics. We show that integration of DMPs with task- based point-attractor dynamics enhances the potential explanatory power of TD in a number of critical ways, including the ability to account for external forces in planning and optimizing both kinematic and dynamic movement costs. At the same time, this approach preserves the successes of Task Dynamics in handling multi-gesture planning and coordination. (shrink)

A full account of purposive action must appeal not only to propositional attitude states like beliefs, desires, and intentions, but also to motor representations, i.e., non-propositional states that are thought to represent, among other things, action outcomes as well as detailed kinematic features of bodily movements. This raises the puzzle of how it is that these two distinct types of state successfully coordinate. We examine this so-called “Interface Problem”. First, we clarify and expand on the nature and role of motor (...) representations in explaining intentional action. Next, we characterize the respective functions of intentions and motor representations, the differences in representational format and content that these imply, and the interface challenge these differences in turn raise. We then evaluate Butterfill and Sinigaglia’s recent answer to this interface challenge, according to which intentions refer to action outcomes by way of demonstrative deference to motor representations. We present some worries for this proposal, arguing that, among other things, it implicitly presupposes a solution to the problem, and so cannot help to resolve it. Finally, we suggest that we may make some progress on this puzzle by positing a “content-preserving causal process” taking place between intentions and motor representations, and we offer a proposal for how this might work. (shrink)

First, we discuss issues raised with respect to the Theory of Event Coding (TEC)'s scope, that is, its limitations and possible extensions. Then, we address the issue of specificity, that is, the widespread concern that TEC is too unspecified and, therefore, too vague in a number of important respects. Finally, we elaborate on our views about TEC's relations to other important frameworks and approaches in the field like stages models, ecological approaches, and the two-visual-pathways model. Footnotes1 We acknowledge the precedence (...) of both Freud¹s Instincts and Their Vicissitudes (1915) and Neisser¹s Stimulus Information and Its Vicissitudes (a term Neisser borrowed from Freud for his monograph “Cognitive psychology,” 1967). (shrink)

According to Kepler and Descartes, the geometry of the triangle formed by the two eyes when focused on a single point affords perception of the distance to that point. Kepler characterized the processes involved as associative learning. Descartes described the processes as a “ natural geometry.” Many interpreters have Descartes holding that perceivers calculate the distance to the focal point using angle-side-angle, calculations that are reduced to unnoticed mental habits in adult vision. This article offers a purely psychophysiological interpretation of (...) Descartes’s natural geometry. In his account of perceived limb position from the Treatise on Man, he envisioned a central brain state that controls ocular convergence and thereby co-varies with the distance from observer to object. A psychophysiological law relates the visual perception of distance to this brain state. Descartes also invokes more traditional theories of distance and size perception based on unnoticed judgments, yielding a hybrid account. (shrink)

Human beings adapt the spontaneous pace of their actions to interact with the environment. Yet, the nature of the mechanism enabling such adaptive behavior remains poorly understood. The aim of the present contribution was to examine the role of attention in motor timing using time series analysis, and a dual task paradigm. In a series of two studies, a finger-tapping task was used in sensorimotor synchronization with various tempi and motor complexity. Time series analyzes indicated that two different timing strategies (...) were used depending on the speed constraints. At slow tempi, tapping sequences were characterized by strong negative autocorrelations, suggesting the implication of cognitive predictive timing. When moving at fast and close-to-spontaneous tempi, tapping sequences were characterized by less negative autocorrelations, suggesting that timing properties emerged from body movement dynamics. The analysis of the dual-task reaction times confirmed that both the temporal and spatial constraints impacted the attentional resources allocated to the finger-tapping tasks. Overall, our work suggests that moving fast and slow involve distinct timing strategies that are characterized by contrasting attentional demands. (shrink)

The emulation theory of representation is developed and explored as a framework that can revealingly synthesize a wide variety of representational functions of the brain. The framework is based on constructs from control theory (forward models) and signal processing (Kalman filters). The idea is that in addition to simply engaging with the body and environment, the brain constructs neural circuits that act as models of the body and environment. During overt sensorimotor engagement, these models are driven by efference copies in (...) parallel with the body and environment, in order to provide expectations of the sensory feedback, and to enhance and process sensory information. These models can also be run off-line in order to produce imagery, estimate outcomes of different actions, and evaluate and develop motor plans. The framework is initially developed within the context of motor control, where it has been shown that inner models running in parallel with the body can reduce the effects of feedback delay problems. The same mechanisms can account for motor imagery as the off-line driving of the emulator via efference copies. The framework is extended to account for visual imagery as the off-line driving of an emulator of the motor-visual loop. I also show how such systems can provide for amodal spatial imagery. Perception, including visual perception, results from such models being used to form expectations of, and to interpret, sensory input. I close by briefly outlining other cognitive functions that might also be synthesized within this framework, including reasoning, theory of mind phenomena, and language. Key Words: efference copies; emulation theory of representation; forward models; Kalman filters; motor control; motor imagery; perception; visual imagery. (shrink)

An attempt is made to defend a general approach to the spatial content of perception, an approach according to which perception is imbued with spatial content in virtue of certain kinds of connections between perceiving organism's sensory input and its behavioral output. The most important aspect of the defense involves clearly distinguishing two kinds of perceptuo-behavioral skills—the formation of dispositions, and a capacity for emulation. The former, the formation of dispositions, is argued to by the central pivot of spatial content. (...) I provide a neural information processing interpretation of what these dispositions amount to, and describe how dispositions, so understood, are an obvious implementation of Gareth Evans' proposal on the topic. Furthermore, I describe what sorts of contribution are made by emulation mechanisms, and I also describe exactly how the emulation framework differs from similar but distinct notions with which it is often unhelpfully confused, such as sensorimotor contingencies and forward models. (shrink)

I argue against a growing radical trend in current theoretical cognitive science that moves from the premises of embedded cognition, embodied cognition, dynamical systems theory and/or situated robotics to conclusions either to the effect that the mind is not in the brain or that cognition does not require representation, or both. I unearth the considerations at the foundation of this view: Haugeland's bandwidth-component argument to the effect that the brain is not a component in cognitive activity, and arguments inspired by (...) dynamical systems theory and situated robotics to the effect that cognitive activity does not involve representations. Both of these strands depend not only on a shift of emphasis from higher cognitive functions to things like sensorimotor processes, but also depend on a certain understanding of how sensorimotor processes are implemented - as closed-loop control systems. I describe a much more sophisticated model of sensorimotor processing that is not only more powerful and robust than simple closed-loop control, but for which there is great evidence that it is implemented in the nervous system. The is the emulation theory of representation, according to which the brain constructs inner dynamical models, or emulators, of the body and environment which are used in parallel with the body and environment to enhance motor control and perception and to provide faster feedback during motor processes, and can be run off-line to produce imagery and evaluate sensorimotor counterfactuals. I then show that the emulation framework is immune to the radical arguments, and makes apparent why the brain is a component in the cognitive activity, and exactly what the representations are in sensorimotor control. (shrink)

We study how an organization’s error-management climate affects organizational members’ beliefs about other members’ willingness to report errors that they discover when chance of error detection by superiors and others is extremely low. An error-management climate, as a component of the organizational climate, is said to be “high” when errors are accepted as part of everyday life as long as they are learned from and not repeated. Alternatively, the error-management climate is said to be an “error averse” climate when discovery (...) of errors invokes the laying of blame on those admitting to or found committing errors. We examine the effects of this error-management climate in a professional services environment where uncorrected errors may have severe consequences and discovery of work errors is crucial for organizational success. We find that error-management climate affects organizational members’ beliefs about what other members will report about discovered self-made errors, with a high error-management (versus error averse) climate leading to greater reporting willingness. We also find a significant interaction with a key contextual variable, error type (conceptual or calculation), that suggests the effect is more significant for conceptual errors than calculation errors. Our findings suggest that an organization’s error-management climate is an important factor in promoting ethical behavior of employees, especially junior employees, carrying out routine tasks whose failure to report errors discovered incidental to those tasks may have severe implications for their organizations. (shrink)

Evidence for a dichotomy between the planning of an action and its on-line control in humans is reviewed. This evidence suggests that planning and control each serve a specialized purpose utilizing distinct visual representations. Evidence from behavioral studies suggests that planning is influenced by a large array of visual and cognitive information, whereas control is influenced solely by the spatial characteristics of the target, including such things as its size, shape, orientation, and so forth. Evidence from brain imaging and neuropsychology (...) suggests that planning and control are subserved by separate visual centers in the posterior parietal lobes, each constituting part of a larger network for planning and control. Planning appears to rely on phylogenetically newer regions in the inferior parietal lobe, along with the frontal lobes and basal ganglia, whereas control appears to rely on older regions in the superior parietal lobe, along with the cerebellum. Key Words: action; apraxia; control; illusions; optic ataxia; PET; planning; reaching;. (shrink)

We have only limited awareness of the system by which we control our actions and this limited awareness does not seem to be concerned with the control of action. Awareness of choosing one action rather than another comes after the choice has been made, while awareness of initiating an action occurs before the movement has begun. These temporal differences bind together in consciousness the intention to act and the consequences of the action. This creates our sense of agency. Activity in (...) the anterior cingulate cortex and medial prefrontal cortex is associated with awareness of our own actions and also occurs when we think about the actions of others. I propose that the mechanism underlying awareness of how our own intentions lead to actions can also be used to represent the intentions that underlie the actions of others. This common system enables us to communicate mental states and thereby share our experiences. (shrink)

We have only limited awareness of the system by which we control our actions and this limited awareness does not seem to be concerned with the control of action. Awareness of choosing one action rather than another comes after the choice has been made, while awareness of initiating an action occurs before the movement has begun. These temporal differences bind together in consciousness the intention to act and the consequences of the action. This creates our sense of agency. Activity in (...) the anterior cingulate cortex and medial prefrontal cortex is associated with awareness of our own actions and also occurs when we think about the actions of others. I propose that the mechanism underlying awareness of how our own intentions lead to actions can also be used to represent the intentions that underlie the actions of others. This common system enables us to communicate mental states and thereby share our experiences. (shrink)

This study aimed at evaluating the role of proprioception in the process of matching the final position of one's limbs with an intentional movement. Two experiments were realised with the same paradigm of conscious recognition of one's own limb position from a distorted position. In the first experiment, 22 healthy subjects performed the task in an active and in a passive condition. In the latter condition, proprioception was the only available information since the central signals related to the motor command (...) were likely to be absent. The second experiment was realised with a deafferented patient who suffers from a complete haptic deafferentation, including loss of proprioception. The results first argue in favour of a dominant role of proprioception in action recognition, but they also stress the possible role of central signals. The process of matching the final position of one's limbs with an intended movement and thus of action recognition would be achieved through a comparison process between the predicted sensory consequences of the action, which are stored in its internal model, and the actual sensory consequences of that action. (shrink)

Looking times and gaze behavior indicate that infants can predict the goal state of an observed simple action event (e.g., object‐directed grasping) already in the first year of life. The present paper mainly focuses on infants’ predictive gaze‐shifts toward the goal of an ongoing action. For this, infants need to generate a forward model of the to‐be‐obtained goal state and to disengage their gaze from the moving agent at a time when information about the action event is still incomplete. By (...) about 6 months of age, infants show goal‐predictive gaze‐shifts, but mainly for familiar actions that they can perform themselves (e.g., grasping) and for familiar agents (e.g., a human hand). Therefore, some theoretical models have highlighted close relations between infants’ ability for action‐goal prediction and their motor development and/or emerging action experience. Recent research indicates that infants can also predict action goals of familiar simple actions performed by non‐human agents (e.g., object‐directed grasping by a mechanical claw) when these agents display agency cues, such as self‐propelled movement, equifinality of goal approach, or production of a salient action effect. This paper provides a review on relevant findings and theoretical models, and proposes that the impacts of action experience and of agency cues can be explained from an action‐event perspective. In particular, infants’ goal‐predictive gaze‐shifts are seen as resulting from an interplay between bottom‐up processing of perceptual information and top‐down influences exerted by event schemata that store information about previously executed or observed actions. (shrink)

How do I know that I am the person who is moving? According to Wittgenstein (1958), the sense of agency involves a primitive notion of the self used as subject, which does not rely on any prior perceptual identification and which is immune to error through misidentification. However, the neuroscience of action and the neuropsychology of schizophrenia show the existence of specific cognitive processes underlying the sense of agency—the ‘‘Who'' system (Georgieff & Jeannerod, 1998) which is disrupted in delusions of (...) control (Frith, 1992). Yet, we have to be careful in the interpretation of such clinical symptoms, which cannot be so easily reduced to deficit of action monitoring or to lack of action awareness. Moreover, we should refine the definition of the sense of agency by distinguishing the sense of initiation and the sense of one's own movements. A conceptual analysis of the empirical data will lead us to establish the taxonomy of the different levels of action representations. (shrink)

Behavior may be controlled by reactive systems. In a reactive system the motor output is exclusively driven by actual sensory input. An alternative solution to control behavior is given by “cognitive” systems capable of planning ahead. To this end the system has to be equipped with some kind of internal world model. A sensible basis of an internal world model might be a model of the system's own body. I show that a reactive system with the ability to control a (...) body of complex geometry requires only a slight reorganization to form a cognitive system. This implies that the assumption that the evolution of cognitive properties requires the introduction of new, additional modules, namely internal world models, is not justified. Rather, these modules may already have existed before the system obtained cognitive properties. Furthermore, I discuss whether the occurrence of such world models may lead to systems having internal perspective. (shrink)

I compare Frith and colleagues’ influential comparator account of how the sense of agency is elicited to the multifactorial weighting model advocated by Synofzik and colleagues. I defend the comparator model from the common objection that the actual sensory consequences of action are not needed to elicit the sense of agency. I examine the comparator model’s ability to explain the performance of healthy subjects and those suffering from delusions of alien control on various self-attribution tasks. It transpires that the comparator (...) model needs case-by-case adjustment to deal with problematic data. In response to this, the multifactorial weighting model of Synofzik and colleagues is introduced. Although this model is incomplete, it is more naturally constrained by the cases that are problematic for the comparator model. However, this model may be untestable. I conclude that currently the comparator model approach has stronger support than the multifactorial weighting model approach. (shrink)

In the reported, experiment participants hit a ball to aim at the vertex of a Müller–Lyer configuration. This configuration either remained stable, changed its shaft length or the orientation of the tails during movement execution. A significant illusion bias was observed in all perturbation conditions, but not in the stationary condition. The illusion bias emerged for perturbations shortly after movement onset and for perturbations during execution, the latter of which allowed only a minimum of time for making adjustments . These (...) findings indicate that allocentric information is exploited for online control when people make rapid adjustments in response to a sudden change in the environment and not when people guide their limb movements to interact with a stable environment. (shrink)

Predictable somatosensory feedback leads to a reduction in tactile sensitivity. This phenomenon, called tactile suppression, relies on a mechanism that uses an efference copy of motor commands to help select relevant aspects of incoming sensory signals. We investigated whether tactile suppression is modulated by the task-relevancy of the predicted consequences of movement and the intensity of related somatosensory feedback signals. Participants reached to a target region in the air in front of a screen; visual or tactile feedback indicated the reach (...) was successful. Furthermore, tactile feedback intensity varied across two groups of participants. We measured tactile suppression by comparing detection thresholds for a probing vibration applied to the finger either early or late during reach and at rest. As expected, we found an overall decrease in late-reach suppression, as no touch was involved at the end of the reach. We observed an increase in the degree of tactile suppression when strong tactile feedback was given at the end of the reach, compared to when weak tactile feedback or visual feedback was given. Our results suggest that the extent of tactile suppression can be adapted to different demands of somatosensory processing. Downregulation of this mechanism is invoked only when the consequences of missing a weak movement sequence are severe for the task. The decisive factor for the presence of tactile suppression seems not to be the predicted action effect as such, but the need to detect and process anticipated feedback signals occurring during movement. (shrink)

This paper contrasts two approaches to agentive self-awareness: a high-level, narrative-based account, and a low-level comparator-based account. We argue that an agent's narrative self-conception has a role to play in explaining their agentive judgments, but that agentive experiences are explained by low-level comparator mechanisms that are grounded in the very machinery responsible for action-production.

Does the existence of body representations undermine the explanatory role of the body? Or do certain types of representation depend so closely upon the body that their involvement in a cognitive task implicates the body itself? In the introduction of this special issue we explore lines of tension and complement that might hold between the notions of embodiment and body representations, which remain too often neglected or obscure. To do so, we distinguish two conceptions of embodiment that either put weight (...) on the explanatory role of the body itself or body representations. We further analyse how and to what extent body representations can be said to be embodied. Finally, we give an overview of the full volume articulated around foundational issues (How should we define the notion of embodiment? To what extent and in what sense is embodiment compatible with representationalism? To what extent and in what sense are sensorimotor approaches similar to behaviourism?) and their applications in several cognitive domains (perception, concepts, selfhood, social cognition). (shrink)