A Graph-Dynamic Perspective on Coordinative Structures, the Role of Affordance-Effectivity Relations in Action Selection, and the Self-Organization of Complex Activities

Meaningful parallels exist between the coordinative structures (CSs) involved in planning and controlling complex actions of the body (limbs, torso, head, face, eyes) in service of both mechanical (e.g., manipulation and/or transport of environmental objects) and social (e.g., inter-agent coordination) functions. While early treatments focused on CS state-dynamics and parameter-dynamics, attention has focused more recently on CS graph-dynamics. We describe a coordinative structure graph (CSG) perspective that brings affordances and effectivities into a dynamical systems framework in which a) task-specific perceptual and physical links are created between an agent's end-effectors and environmental objects/surfaces during the graph-dynamics of CSG assembly; and b) these dynamics embed the agent in his/her environmental context such that the agent+environment system functions as a higher-order task-specific unit. Additionally, we describe a 3-tuple formalism for CSs that govern simple, single actions; such 3-tuples are viewed as modular planning graphs that can self-assemble under a compositional graph-dynamics into multi-action chains or hierarchical structures, and that may inform future developments of CS-based action grammars.