Maintaining Structured Experiences for Robots via Human Demonstrations: An Architecture To Convey Long-Term Robot\u2019s Beliefs

This PhD thesis presents an architecture for structuring experiences, learned through demonstrations, in a robot memory. To test our architecture, we consider a specific application where a robot learns how objects are spatially arranged in a tabletop scenario. We use this application as a mean to present a few software development guidelines for building architecture for similar scenarios, where a robot is able to interact with a user through a qualitative shared knowledge stored in its memory. In particular, the thesis proposes a novel technique for deploying ontologies in a robotic architecture based on semantic interfaces. To better support those interfaces, it also presents general-purpose tools especially designed for an iterative development process, which is suitable for Human-Robot Interaction scenarios. We considered ourselves at the beginning of the first iteration of the design process, and our objective was to build a flexible architecture through which evaluate different heuristic during further development iterations. Our architecture is based on a novel algorithm performing a oneshot structured learning based on logic formalism. We used a fuzzy ontology for dealing with uncertain environments, and we integrated the algorithm in the architecture based on a specific semantic interface. The algorithm is used for building experience graphs encoded in the robot\u2019s memory that can be used for recognising and associating situations after a knowledge bootstrapping phase. During this phase, a user is supposed to teach and supervise the beliefs of the robot through multimodal, not physical, interactions. We used the algorithm to implement a cognitive like memory involving the encoding, storing, retrieving, consolidating, and forgetting behaviours, and we showed that our flexible design pattern could be used for building architectures where contextualised memories are managed with different purposes, i.e. they contains representation of the same experience encoded with different semantics. The proposed architecture has the main purposes of generating and maintaining knowledge in memory, but it can be directly interfaced with perceiving and acting components if they provide, or require, symbolical knowledge. With the purposes of showing the type of data considered as inputs and outputs in our tests, this thesis also presents components to evaluate point clouds, engage dialogues, perform late data fusion and simulate the search of a target position. Nevertheless, our design pattern is not meant to be coupled only with those components, which indeed have a large room of improvement

Assemble geo-analytical questions through a Blockly-based natural language interface

Natural language Interfaces (NLIs) have the ability to make Geographic Information Systems more accessible for interdisciplinary researchers or any inexperienced users. However, the majority of research on NLIs for GIS explored NLIs for visualization or spatial data retrieval. Research on NLIs for geo-analytical questions is still lacking. Google Blockly, an open-source JavaScript library, is frequently used for developing visual programming editors for young students learning programming languages. Students set up program functions by selecting and assembling the programming blocks and the Blockly system automatically translates the block stacks into different programming languages. Similarly, we present a Blockly-based interface that generates a question depending on the blocks the user has assembled. It can be seen that a Blockly-based interface not only naturally represents syntactic structures in geo-analytical questions but also well assists users in familiarizing the blocks and generating clear and complete questions. A comprehensive usability study is still necessary to better evaluate the interface’s performance

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure

Computing with Granular Words

Computational linguistics is a sub-field of artificial intelligence; it is an interdisciplinary field dealing with statistical and/or rule-based modeling of natural language from a computational perspective. Traditionally, fuzzy logic is used to deal with fuzziness among single linguistic terms in documents. However, linguistic terms may be related to other types of uncertainty. For instance, different users search ‘cheap hotel’ in a search engine, they may need distinct pieces of relevant hidden information such as shopping, transportation, weather, etc. Therefore, this research work focuses on studying granular words and developing new algorithms to process them to deal with uncertainty globally. To precisely describe the granular words, a new structure called Granular Information Hyper Tree (GIHT) is constructed. Furthermore, several technologies are developed to cooperate with computing with granular words in spam filtering and query recommendation. Based on simulation results, the GIHT-Bayesian algorithm can get more accurate spam filtering rate than conventional method Naive Bayesian and SVM; computing with granular word also generates better recommendation results based on users’ assessment when applied it to search engine

An overview of decision table literature 1982-1995.

This report gives an overview of the literature on decision tables over the past 15 years. As much as possible, for each reference, an author supplied abstract, a number of keywords and a classification are provided. In some cases own comments are added. The purpose of these comments is to show where, how and why decision tables are used. The literature is classified according to application area, theoretical versus practical character, year of publication, country or origin (not necessarily country of publication) and the language of the document. After a description of the scope of the interview, classification results and the classification by topic are presented. The main body of the paper is the ordered list of publications with abstract, classification and comments.