Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams

How culture influences perspective taking: differences in correction, not integration

Individuals from East Asian (Chinese) backgrounds have been shown to exhibit greater sensitivity to a speaker’s perspective than Western (U.S.) participants when resolving referentially ambiguous expressions. We show that this cultural difference does not reflect better integration of social information during language processing, but rather is the result of differential correction: in the earliest moments of referential processing, Chinese participants showed equivalent egocentric interference to Westerners, but managed to suppress the interference earlier and more effectively. A time-series analysis of visual-world eye-tracking data found that the two cultural groups diverged extremely late in processing, between 600 and 1400 ms after the onset of egocentric interference. We suggest that the early moments of referential processing reflect the operation of a universal stratum of processing that provides rapid ambiguity resolution at the cost of accuracy and flexibility. Late components, in contrast, reflect the mapping of outputs from referential processes to decision-making and action planning systems, allowing for a flexibility in responding that is molded by culturally specific demands

Syntax-Aware Multi-Sense Word Embeddings for Deep Compositional Models of Meaning

Deep compositional models of meaning acting on distributional representations of words in order to produce vectors of larger text constituents are evolving to a popular area of NLP research. We detail a compositional distributional framework based on a rich form of word embeddings that aims at facilitating the interactions between words in the context of a sentence. Embeddings and composition layers are jointly learned against a generic objective that enhances the vectors with syntactic information from the surrounding context. Furthermore, each word is associated with a number of senses, the most plausible of which is selected dynamically during the composition process. We evaluate the produced vectors qualitatively and quantitatively with positive results. At the sentence level, the effectiveness of the framework is demonstrated on the MSRPar task, for which we report results within the state-of-the-art range.Comment: Accepted for presentation at EMNLP 201

Intelligent Agents for Disaster Management

ALADDIN [1] is a multi-disciplinary project that is developing novel techniques, architectures, and mechanisms for multi-agent systems in uncertain and dynamic environments. The application focus of the project is disaster management. Research within a number of themes is being pursued and this is considering different aspects of the interaction between autonomous agents and the decentralised system architectures that support those interactions. The aim of the research is to contribute to building more robust multi-agent systems for future applications in disaster management and other similar domains

Validation of Soft Classification Models using Partial Class Memberships: An Extended Concept of Sensitivity & Co. applied to the Grading of Astrocytoma Tissues

We use partial class memberships in soft classification to model uncertain labelling and mixtures of classes. Partial class memberships are not restricted to predictions, but may also occur in reference labels (ground truth, gold standard diagnosis) for training and validation data. Classifier performance is usually expressed as fractions of the confusion matrix, such as sensitivity, specificity, negative and positive predictive values. We extend this concept to soft classification and discuss the bias and variance properties of the extended performance measures. Ambiguity in reference labels translates to differences between best-case, expected and worst-case performance. We show a second set of measures comparing expected and ideal performance which is closely related to regression performance, namely the root mean squared error RMSE and the mean absolute error MAE. All calculations apply to classical crisp classification as well as to soft classification (partial class memberships and/or one-class classifiers). The proposed performance measures allow to test classifiers with actual borderline cases. In addition, hardening of e.g. posterior probabilities into class labels is not necessary, avoiding the corresponding information loss and increase in variance. We implement the proposed performance measures in the R package "softclassval", which is available from CRAN and at http://softclassval.r-forge.r-project.org. Our reasoning as well as the importance of partial memberships for chemometric classification is illustrated by a real-word application: astrocytoma brain tumor tissue grading (80 patients, 37000 spectra) for finding surgical excision borders. As borderline cases are the actual target of the analytical technique, samples which are diagnosed to be borderline cases must be included in the validation.Comment: The manuscript is accepted for publication in Chemometrics and Intelligent Laboratory Systems. Supplementary figures and tables are at the end of the pd