A note on the representation and the manipulation of structures

International audienceIn this position paper for the Dl'98 workshop, we present a discussion on the notion of structure and on the related reasoning problems. Structures are widely used in artificial intelligence to represent real-world concepts, especially in design, configuration and classification problems. A structure is a composite object --composite objects and structures are strongly related-- which has a number of parts that are interconnected and that can be composite objects themselves (structure = collection of parts + configuration information)

Interactive Chemical Reactivity Exploration

Elucidating chemical reactivity in complex molecular assemblies of a few hundred atoms is, despite the remarkable progress in quantum chemistry, still a major challenge. Black-box search methods to find intermediates and transition-state structures might fail in such situations because of the high-dimensionality of the potential energy surface. Here, we propose the concept of interactive chemical reactivity exploration to effectively introduce the chemist's intuition into the search process. We employ a haptic pointer device with force-feedback to allow the operator the direct manipulation of structures in three dimensions along with simultaneous perception of the quantum mechanical response upon structure modification as forces. We elaborate on the details of how such an interactive exploration should proceed and which technical difficulties need to be overcome. All reactivity-exploration concepts developed for this purpose have been implemented in the Samson programming environment.Comment: 36 pages, 14 figure

An introduction to Graph Data Management

A graph database is a database where the data structures for the schema and/or instances are modeled as a (labeled)(directed) graph or generalizations of it, and where querying is expressed by graph-oriented operations and type constructors. In this article we present the basic notions of graph databases, give an historical overview of its main development, and study the main current systems that implement them

Experimental effects and causal representations

In experimental settings, scientists often “make” new things, in which case the aim is to intervene in order to produce experimental objects and processes—characterized as ‘effects’. In this discussion, I illuminate an important performative function in measurement and experimentation in general: intervention-based experimental production (IEP). I argue that even though the goal of IEP is the production of new effects, it can be informative for causal details in scientific representations. Specifically, IEP can be informative about causal relations in: regularities under study; ‘intervention systems’, which are measurement/experimental systems; and new technological systems

Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks

In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory traces. These deviations in sensory traces can be used to drive the motion adaptation, and for this purpose, a feedback model is required. The feedback model maps the deviations in sensory traces to the motion plan adaptation. In this paper, we develop a general data-driven framework for learning a feedback model from demonstrations. We utilize a variant of a radial basis function network structure --with movement phases as kernel centers-- which can generally be applied to represent any feedback models for movement primitives. To demonstrate the effectiveness of our framework, we test it on the task of scraping on a tilt board. In this task, we are learning a reactive policy in the form of orientation adaptation, based on deviations of tactile sensor traces. As a proof of concept of our method, we provide evaluations on an anthropomorphic robot. A video demonstrating our approach and its results can be seen in https://youtu.be/7Dx5imy1KcwComment: 8 pages, accepted to be published at the International Conference on Robotics and Automation (ICRA) 201