Emergence of coherent behaviors from homogenous sensorimotor coupling
Why this work is in the frame
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Bibliographic record
Abstract
It seems self-evident that an agent's perception of its surrounding environment is tightly coupled to its behavior. However, most robot control architectures make some assumptions about how sensory information relates to motor actions, in order to provide a set of basic behaviors (such as reflexes). It is largely unknown to what extent these biases reduce the potential for the generation of diverse or unexpected behaviors from the agent-environment interaction. In this paper, we propose a new model of robot control architecture, consisting of homogeneous, non-hierarchical coupling, which only learns the correlation of simultaneous activity between any pair of sensor or motor modalities. We show that the propagation of activity across the different modalities, modulated by the learnt correlations, can lead to the emergence of coherent complex behaviors, such as approaching and following an object, or solving a task based on the temporal relationship between an early clue and a delayed reward
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it