►
From YouTube: The Affordance Competition Hypothesis
Description
I'll probably touch on both these papers, although the first one is more essential reading than the second.
- Cortical mechanisms of action selection:the affordance competition hypothesis http://www.cisek.org/pavel/Pubs/Cisek2007.pdf
- Resynthesizing behavior through phylogenetic refinement https://link.springer.com/content/pdf/10.3758%2Fs13414-019-01760-1.pdf
The interesting thing to me in these models is the similarities between "affordances" in Cisek's models and "objects" in our models.
A
Welcome
everybody
thanks,
so
I
actually
got
into
all
to
sex
work,
somebody
from
perform
posts
just
trying
to
keep
up
with
the
type
of
things
they're
working
on,
and
then
I
mentioned
it
to
you.
Jeff
and
you're
like
well,
read
the
paper
and
come
tell
us
about
it.
So
that's
what
I'm
doing
there's
actually
two
papers
here.
There's
this
one
which
is
older.
A
This
is
2007
where
he
introduces
this
affordance
competition
hypothesis,
which
is
sort
of
the
idea
that
I
want
to
explore
and
compare
and
contrast
to
our
ideas,
but
I'm
also
going
to
go
back
to
this
paper
that
which
is
much
more
recent,
which
is
goes
through.
This
thing,
phylogenetic
refinement.
Okay,
let.
A
C
D
A
In
you
probably
will
yeah
so
hi
I
hope
you
I
hope
you
do,
but
I've
been
talking
about
him
on
you,
know
social
media
and
on
the
forums,
there's
a
lot
of
discussion
about
sort
of
these
ideas
and
how
they
overlap
with
ours.
But
let
me
get
back
because
I
there's
a
there's
sort
of
a
root
cause
I,
think
of
a
lot
of
his
work
and
it's
sort
of
rebuking,
some
older
ideas
about
how
to
create
a
taxonomy
of
brain
function.
A
So
this
top
area
here
is
sort
of
the
old
way
or
something
he's
sort
of
trying
to
break
down
and
saying
this:
isn't
the
right
way?
Look
at
things!
When
you
talk
about
the
brain,
you
don't
break
it's
it's
hard
to
make.
It
make
sense
when
you
break
it
up
into
perception,
cognition
and
action.
So
I'll
go
into
a
little
bit
more
of
that.
His
his
ideas
go
into
the
pheno
genetic
sort
of
taxonomy,
of
evolution,
of
the
brain.
A
But
there's
repercussions
to
neocortex,
you
know,
based
on
the
whole
evolution
of
the
brain.
What
is
the
pineal
cortex
doing
in
relation
to
that?
So
I'm
actually
going
to
jump
to
the
newer
paper
now,
because
it's
got
some
really
good
ideas.
I
think
about
this
before
we
go
into
the
affordance
competition
hypothesis,
but
this
is
really
I
think
sort
of
situated
to
rebuke
that
old
idea
and
present.
You
know
a
better
understanding
of
it
based
on
the
biology.
So
again
he
presents
this
old
view
and
he's
talking
about
how
this
isn't
I
mean.
B
B
E
F
E
A
E
B
F
F
E
B
F
E
A
E
A
And
I
think
we'll
understand
once
we
get
to
some
of
these
charts
that
we'll
get
to
so
let
me
just
get
down
here
and
and
talk
about,
let's
just
get
to
the
main
chart.
Okay,
this
is
what
this
is.
Basically,
the
the
research
that
he
did
to
try
and
identify
all
of
the
pheno
phylogenetic
sort
of
branches
along
the
way,
from
neurons
all
the
way
to
cerebral
cortex,
to
try
and
create
a
new
taxonomy.
A
You
know
not
based
on
cognition
action
perception
but
sort
of
at
a
whole
brain
level,
but
trying
to
understand
that
what
what
is
cortex
in
this
new
taxonomy.
So
let
me
go
down
to
keep
this
in
mind
as
we
move
on
to
this
other
chart
here
where
I
know
I'm
jumping
around
a
lot,
but
this
makes
a
little
bit
more
sense.
C
F
A
B
A
And
one
of
the
reasons
I
like
this,
the
way
he's
done
this
is
because
I've
always
it
really
seems
like
actions
are
going
to
be
represented
in
a
similar
way
as
objects
are
represented
in
different
parts
of
the
brain.
There's
reference
frames
involved
in
both
there's,
you
know,
attractors
involved
in
both
that
are
resolving
two
things.
There's
cooling
involved
in
both
and
I
think
that
his
idea
of
affordance
competition
is
extremely
similar
to
our
idea
of
object.
Unions,
object
selection.
D
A
B
E
A
Let's
say
they
try
and
use
the
right
terms
here,
we're
doing
this
out.
I
lost
it
so
here
before
say
the
the
pallium
expanded.
It
was
under
a
pressure
to
perform
a
certain
action
in
in
response
to
movement
of
an
organism
as
an
expanded.
Then
that
incorporated
all
it's
the
same
sort
of
thing
that
we
say
that
the
cortex
did
when
it
expanded
it
started
doing
all
these
other
things.
Using
the
same.
G
H
G
H
A
A
That's
which
is
a
part
of
it
but
I,
but
when
you
grow
up
when
you
reach
to
grasp
something,
your
your
whole
brain
in
both
streams
is
resolving
to
do
the
thing
you
know:
there's
an
object,
representation
of
what
you're
grasping
and
then
there's
a
motion.
Representation
of
your
movement
to
the
thing
and
I
think
that's
the.
E
The
in
the
the
what
pathways
or
actions
of
the
object
itself
in
the
objects
fix
their
actions
in
the
object
space
and
where
pathways
or
their
actions
in
the
bottom
space.
Basically
they're
both
doing
the
same
thing.
There's
a
lot
of
the
actions
relative
to
an
object
in
selecting
actions
on
your
body,
and
so
action
selection
in
action
specification
will
be
having
both
sides
just
different
garbage
bags
mm.
E
E
E
A
E
I
A
E
E
C
A
All
of
this
can
may
have
evolved
from
simply
observing
an
object
and
either
going
away
from
it
or
going
towards
it,
taking
an
action
to
either
get
to
the
object
if
it's
food
or
to
avoid
the
object,
if
it's
a
threat
and
at
the
core,
those
things
may
still
be
what's
driving
even
object,
recognition
in
a
way
that
motion
and
objects
are
almost
always
tied
together,
you
know
from
an
evolutionary
we
take.
We
take
action
in
response
to
objects,
always.
E
E
B
E
B
A
Let
me
get
to
a
couple
conclusions
from
this
paper
and
we'll
go
back
to
the
affordance
competition.
So
so
I
like
this
because
he's
going
against
the
idea
again
of
cognition
perception
action
as
sort
of
the
taxonomy
of
cortex
saying
that
cognition.
If
the
cognition
hasn't
entered
the
picture,
maybe
because
we
haven't
gone
far
enough
or
because
cognition
has
a
dedicated
to
separate
system
as
a
concept.
That's
incompatible
with
this
phylogenetic
history
that
you
know
that
he's
talking
about
so
he's
sort
of
turning
cognitions
and
is.
A
G
A
F
A
So,
okay,
so
let
me
go
back
to
the
affordance
competition
and
we'll
step
through
I
won't
go
through
all
of
it,
but
so
when
he
says,
affordances
he's
sort
of
a
loose
term
right,
but
I
see
it
as
sort
of
any
any
representation
or
a
tractor
four
movements,
some
movements
or
actions,
or
something
and
I
from
the
room
of
the
moment.
A
few
pages
into
this
I
was
like
affordances
or
objects.
It
was
almost
obvious
the
way
he
was
talking
about
affordances
and
how
they're
selected
was
the
way
we
talk
about
hobby.
B
E
E
E
B
A
A
So
so
here's
this
was
hard
for
me.
I,
don't
I'm,
not
really
sure
I
understand
this,
but
I've
labeled
the.
What
in
the
where
streams
here.
So
the
interesting
thing
in
here
I
think
is
this.
This
pool
he's
got
right
here,
so
what
he's
identifying
here
I
think
is
pooling
action
pooling
so
he's
talking
about
the
dorsal
stream
originating
in
stray
cortex
and
v1
moving.
You
know
over
the
dorsal
area
and
saying
that
and
somewhere
in
I
can't
the
exact
names
of
the
brain
regions,
but
they're
right,
Romero.
G
A
So,
let's
take
an
experiment
where
it's
a
reaching
task
and
there's
two
objects
to
reach
to,
and
the
macaque
or
whatever
it
is,
is,
is
somehow
taking
the
action
before
knowing
which
one
is
actually
going
to
be
the
target
right,
and
so
he
showed
experimentally.
Let
me
find
the
right
thing
here:
I
can
find
it
he's
got
this
whole
model
based
on
these
experiments,
but
essentially
he
showed
that
multiple
simultaneous
affordances
are
represented
in
this
area
of
cortex
a.
F
A
B
E
E
The
different
parts
I
see
different
affordances
that
each
mama
so
I
look
at
the
the
handle.
I
see
how
it
can
be
flipped
up
and
down,
or
rather
with
the
ring
around
the
top
say.
Oh,
it
can
be
unscrewed
but
I
mean
I.
Think
of
those
things
at
the
same
time
is
I
tend
to
different
opponents
I.
So
there's
a
certain.
B
A
F
D
D
A
I
A
I
E
A
So
let
me
note
a
couple
interesting
things:
I
took
some
notes
on
this.
He
noted
this
that
there's
different
parts
of
parietal
cortex
involved
in
this
dorsal
stream
and
that
the
like,
for
example,
lateral
intraparietal,
is
involved
in
eye
control
and
the
reference
frames
involved
in
that
part
of
cortex
during
affordance,
competition
is
body
centric
and
then
the
medial
and
deep
fried,
which
is
arm
reaching
his
hand
centric.
So
that
makes
sense.
Okay,
so
I
just
wanted
to
point
out
that
aligns
with
how
we
think
about
reference
frames
in
the
dorsal
stream,
and
he.
A
A
Okay,
this
was
a
big
conclusion.
I
think
I
took
out
of
this
an
early
role
of
what
is
now
the
ventral
stream
may
have
been
the
detection
of
stimulus,
combinations
that
were
relevant
for
selection
of
actions
in
a
particular
behavioral
context.
Looking
back
in
evolutionary
history,
and
this
may
have
eventually
evolved
in
the
sophisticated
object,
recognition
ability
of
mammals.
A
B
A
I
D
Does
make
sense
to
me
because
the
central
nervous
system
monopolize
the
entire
control
of
physiology,
so
in
that
sense
you
you
no
longer
need
to
consider
like
in
all
forms
of
life
right.
You
might
have.
You
know
a
lots
of
no
control
that
I
disparate
parts.
So
if
you
look
at
like
a
lamprey,
you
know
all
the
gates
before
it's
like
inside
the
spinal
cord.
D
All
that
goes
away
once
the
whole
behavior
is
not
is
controlled
by
the
central
nervous
system,
and
that's
why
you
can
you
know,
take
the
physiology
out
of
the
picture
of
this,
because
all
of
what
is
now
interesting
is
now
inside
the
behavioral
control.
That's
how
high,
if
you
would
like,
if
you
look
at
it,
some
evolution
right.
If
you
look
like
it's
because
the
kind
of
stuff
yeah
it's
just
some
seeking
entity.
D
D
D
I
D
Enough
to
look
at
how
far
that
is
something
changed,
I
coming
back
through
the
top
point
is
nice
like
replications
of
RNAs,
of
repeat
molecules
and
metabolism,
so
hurry
food,
assembler,
proteins,
yeah
and
then
and
then
the
metabolism
is
divided
up
into
you
know
some
kind
of
physical
entity
that
lives.
I.
Guess
that's
physiology
and
you
know
what
it
does.
It
swim
around.
E
E
F
E
E
E
I
E
E
F
E
E
E
E
E
G
F
D
G
G
D
D
E
E
My
quarter,
so
they
have
some
memory
which
they
possess,
which
they
now
transfer
someone
else
right.
So
it
requires
memory
to
be
something
department,
so
there
have
been
they're
very
easily
be
the
most
animals
that
could
very
well
be
the
begin
to
some
special.
Our
circuit
just
saw
that
one
problem
and
that's
it
we're
an
octopus,
clearly
is
much
more
sophisticated
and
technically
say,
but
it's
pretty
sophisticated
random
they're,
really,
smart,
all
right.
So
it's
just
it's
just
an
interesting
question.
E
To
ask:
it's
mean
knowledge
about
the
world
requires
reference,
I'm
kind
of
comfortable
leave
this.
If
you're
gonna
have
any
kind
of
general-purpose
knowledge,
it
could
be
applied
in
different
situations,
and
so
other
animals
non
mammals
have
abilities
to
express
knowledge
about
the
world
and
so
to
what
level
does
this
basic
idea
of
reference
frames.
A
But
but
I
do
I
mean
Mona.
My
key
takeaways
here
is
that
it
really
feels
like
what
he
calls
action.
Selection
is
object.
Centric
reference
frames.
What
he
calls
action
specification
is
body,
centric
or
sensor
centric
reference
frames,
which
is
a
hint.
You
know
how
this
could
be
working
together.
Yeah.
E
E
I,
wouldn't
argue
against
that
at
all,
but
when
you
come
to
the
cortex,
we
still
see
these
kind
of
words
in
most
people,
whether
whether
they're,
all
through
this
paper,
momentum
or
not,
but
most
people
still
think
there's
some
sort
of
special
circuit
for
that
and
I.
Think
the
underlying
the
overlaying
theme
of
our
research
here
has
been
that
no
there's,
you
know
we
go
with.
We
lower
the
mount
castle,
this
one
that
does
everything,
and
so
that's
the
thing
I
find,
but
we're
trying
to
find.
D
A
A
E
E
A
Curious
about
what
and
where
and
the
those
pathways
and
the
way
he
describes
it
I'm
a
little
confused
about
these
eras.
You
know
the
middle
going
everywhere,
but
with
this,
but
it
makes
sense
that
these
that
there's
objects
and
there's
actions
and
they
go
together.
You
know:
there's
a
simultaneous
selection
of
objects
and
actions
throughout
cortex
as
you're
performing
catalyst.
I
like
the
word.
H
Affordance-
and
it
is
first
time
as
a
beer
just
about
affordances
before
sometimes
it's
useful,
to
sometimes
take
your
object
and
insert
Norden
affordance.
Instead
we're
surrounded
by
a
horde
which
was
run
by
things.
We
can
let
you
recognize
that
handle
you
that's
the
way
you
can
go
and
like
I,
don't
know
get
water
into
your
mouth.
I,
don't
know,
that's
a
that's
a
useful
idea
that
way,
sometimes
when
we
say
objects,
maybe
sometimes
just
for
our
own
pasta,
substitute
or
affordance,
see
what
not.
E
E
E
A
F
E
A
E
E
G
E
E
E
Space
and
then,
whereas
my
coffee
cup
is
got
its
own
reference
frame
and
and
so
the
point
is
that
where
and
what
pathways
can
both
be
thinking
about
a
common
they're,
both
learning
the
structure
of
objects
in
the
behaviors
of
those
objects,
but
ones
in
the
body,
reference
frame
and
ones
in
an
object.
Reference
frame
and
I
wouldn't
call
one
actions
in
the
other
honors.
C
Possible
ways
that
the
stapler
could
exist
in
its
own
reference
frame
and
if
you
look
at
the
where
pathway
you
know,
maybe
thinking
about
a
configuration
of
the
stapler,
the
where
pathway,
it
might
say.
Okay,
here's
my
body
as
my
hand.
Here
it
is
in
relation
to
what
other.
How
would
I
need
to
change
my
body's
configuration,
my
body.
G
B
B
E
A
E
E
E
G
C
You
know
representing
different
configurations
of
a
stapler
using
transformation.
Matrices
and
reference
frame
of
each
of
the
thing
is
exactly
how
you
would
represent
different
configurations
of
your
body
and
each
thing:
whatever
is
reference
frame
and
transformations
between
them
and
there
are
almost
identical
in
how
you
represent
the
computation
they're
almost
identical,
but
you.
I
I
Also,
you
know,
such
as
that
objects,
reference
frame
and
my
reference
frame,
but
projecting
that
object
in
his
own
reference
frame,
interacting
with
other
objects.
That's
that's
another
aspect
of
the
behavior
that
that
guides
what
our
actions
are
and
so
I
think.
There's
there's
a
another
level
of
subtlety
here
on
the
way
we're
talking
about
this
rather
than
to
a
center
of
about
it,
because
we're
actually
looking
at
how
to
planning
things.
How
we,
you
know,
don't
go
and
say:
oh,
it's
stopped.
You
can
predict
a
movie.
E
E
Take
which,
but
but
we
have
we
know
part
of
the
solution.
Mechanic
for
the
solution
is
we
both
this
in
the
framework
paper
is
that
we
think
that
the
cortex
is
always
attending
to
something
and
tending
to
something
attending
something
constantly,
whether
it's
your
vision
or
hear
anything
but
touch
and
and
every
time
you
attend
to
something
it's
gonna.
It's
gonna,
it's
gonna
figure
out
the
relative
position,
those
two
things
you're
attending
to
it's,
just
a
natural
process.
I,
look
at
you
and
I.
Look
at
Michelangelo
and
I
know
a
far
party
line.
E
It
just
happens.
It's
as
part
of
the
process
of
attending
I
have
Table
Topics,
and
so
so
now
I
have
like
maybe
a
wall
and
a
mistake.
Ler
and
I
Congress
will
not
know
that
constraint
on
the
stapler
must
I
also
took
a
look
at
the
wall,
I'm
just
a
stapler.
No,
but
now
I've
looked
this
stapler
and
I.
Have
this
reference
frame
and
I
don't
get
a
wall
on
there,
something
about
its
reference
frame,
and
so
for
starters,
we
speculated
that
the
brain
would
automatically
calculate
the
distance
between
those
two
of
them.
E
E
F
E
I
E
F
G
E
Yes,
whether
you're
conscious
of
it
or
not,
it's
not
conscious
of
the
conscious
maturation,
but
the
idea
that
clearly
I
don't
have
a
problem.
The
staplers
close
in
the
wallet
there's
a
ceiling
on
it,
no
problem,
it's
only
when
I
imagine,
opening
a
stapler
and
I
predict
what
its
new
morphology
would
be.
Yes,.
E
D
G
H
D
E
D
H
E
E
E
E
E
D
E
Thing
about
this
conscious
intentions
up,
he
said:
if
I
ask
you
yes
I'm
aware,
but
could
you
think
about
it,
but
I
argued
that
most
of
time
you
know
I
think
if
you're
not
wearing
your
brains,
thinking
about
it
we're
on
our
way.
So
the
last
two
weeks
I've
been
taking
my
mother
in
out
of
my
car
door
multiple
times
a
day
right
and
just
needs
a
lot
of
help,
and
in
so
I
like
she's
thinking
about
this,
because
I
become
Oh
Dorothy,
where
all
the
things
that
are
nearby
reverse
your
cane.
E
I
really
think
there's
so
many
things
going
on
at
once:
I'm
watching
where
her
foot
is
in
getting
stuck
in
the
door
jamb.
So
I'm
not
going
really
slow
about
this,
though
I'm
not
sitting,
okay
check
the
phone
check
the
door,
it
just
flows,
but
if
I
stop
and
think
about
iti
thought
about
lost
on
you
just
do
it.
Okay,
so
I'm,
arguing
that
it's
more
subconscious
than
you
think.
F
I
And
you
navigate
around
that
and
it's
over
it's
unconscious.
You
just
see
coded
as
you
have
in
your
mind.
You
know
the
behavior
of
the
person
you
gauging
it
and
saying
no
one's
moving
faster
than
me.
They
can
only
move
in
this
space
with
survive
and
I
navigate
a
path
as
I
walk
faster
triggered
most
people
as
it
turns
out.
So
it's
all
unconscious.
It's
all
stream.
It's
you're
right!
You
know,
I'm
only
aware
that
I'm
expending
energy
I'm
not
deciding
for
moment
we're.