MiS Preprint Repository

We have decided to discontinue the publication of preprints on our preprint server as of 1 March 2024. The publication culture within mathematics has changed so much due to the rise of repositories such as ArXiV ( that we are encouraging all institute members to make their preprints available there. An institute's repository in its previous form is, therefore, unnecessary. The preprints published to date will remain available here, but we will not add any new preprints here.

MiS Preprint

Quantifying Morphological Computation based on an Information Decomposition of the Sensorimotor Loop

Keyan Ghazi-Zahedi and Johannes Rauh


The question how an agent is affected by its embodiment has attracted growing attention in recent years. A new field of artificial intelligence has emerged, which is based on the idea that intelligence cannot be understood without taking into account embodiment. We believe that a formal approach to quantifying the embodiment's effect on the agent's behaviour is beneficial to the fields of artificial life and artificial intelligence. The contribution of an agent's body and environment to its behaviour is also known as morphological computation. Therefore, in this work, we propose a quantification of morphological computation, which is based on an information decomposition of the sensorimotor loop into shared, unique and synergistic information. In numerical simulation based on a formal representation of the sensorimotor loop, we show that the unique information of the body and environment is a good measure for morphological computation. The results are compared to our previously derived quantification of morphological computation.

MSC Codes:
68T01, 94A15, 94A17
07.05.Mh, 89.70.Cf
Morphological Computation, information decomposition, Unique Information, Embodied Artificial Intelligence, sensorimotor loop

Related publications

2015 Repository Open Access
Keyan Ghazi-Zahedi and Johannes Rauh

Quantifying morphological computation based on an information decomposition of the sensorimotor loop

In: Proceedings of the european conference on artificial life 2015, ECAL 2015 / Paul Andrews... (eds.)
Cambridge, MA : MIT Press, 2015. - pp. 70-77