16,829 research outputs found
Active Object Search Exploiting Probabilistic Object–Object Relations
\u3cp\u3eThis paper proposes a probabilistic object-object relation based approach for an active object search. An important role of mobile robots will be to perform object-related tasks and active object search strategies deal with the non-trivial task of finding an object in unstructured and dynamically changing environments. This work builds further upon an existing approach exploiting probabilistic object-room relations for selecting the room in which an object is expected to be. Learnt object-object relations allow to search for objects inside a room via a chain of intermediate objects. Simulations have been performed to investigate the effect of the camera quality on path length and failure rate. Furthermore, a comparison is made with a benchmark algorithm based the same prior knowledge but without using a chain of intermediate objects. An experiment shows the potential of the proposed approach on the AMIGO robot.\u3c/p\u3
Scalable Probabilistic Similarity Ranking in Uncertain Databases (Technical Report)
This paper introduces a scalable approach for probabilistic top-k similarity
ranking on uncertain vector data. Each uncertain object is represented by a set
of vector instances that are assumed to be mutually-exclusive. The objective is
to rank the uncertain data according to their distance to a reference object.
We propose a framework that incrementally computes for each object instance and
ranking position, the probability of the object falling at that ranking
position. The resulting rank probability distribution can serve as input for
several state-of-the-art probabilistic ranking models. Existing approaches
compute this probability distribution by applying a dynamic programming
approach of quadratic complexity. In this paper we theoretically as well as
experimentally show that our framework reduces this to a linear-time complexity
while having the same memory requirements, facilitated by incremental accessing
of the uncertain vector instances in increasing order of their distance to the
reference object. Furthermore, we show how the output of our method can be used
to apply probabilistic top-k ranking for the objects, according to different
state-of-the-art definitions. We conduct an experimental evaluation on
synthetic and real data, which demonstrates the efficiency of our approach
Bootstrapping Probabilistic Models of Qualitative Spatial Relations for Active Visual Object Search
In many real world applications, autonomous mobile robots are required to observe or retrieve objects in their environment, despite not having accurate estimates of the objects ’ locations. Finding objects in real-world settings is a non-trivial task, given the complexity and the dynamics of human environments. However, by understanding and exploiting the structure of such environments, e.g. where objects are commonly placed as part of everyday activities, robots can perform search tasks more efficiently and effectively than without such knowledge. In this paper we investigate how probabilistic models of qualitative spatial relations can improve the performance in object search tasks. Specifically, we learn Gaussian Mixture Models of spatial relations between object classes from descriptive statistics of real office environments. Experimental results with a range of sensor models suggest that our model improves overall performance in object search tasks.
KR: An Architecture for Knowledge Representation and Reasoning in Robotics
This paper describes an architecture that combines the complementary
strengths of declarative programming and probabilistic graphical models to
enable robots to represent, reason with, and learn from, qualitative and
quantitative descriptions of uncertainty and knowledge. An action language is
used for the low-level (LL) and high-level (HL) system descriptions in the
architecture, and the definition of recorded histories in the HL is expanded to
allow prioritized defaults. For any given goal, tentative plans created in the
HL using default knowledge and commonsense reasoning are implemented in the LL
using probabilistic algorithms, with the corresponding observations used to
update the HL history. Tight coupling between the two levels enables automatic
selection of relevant variables and generation of suitable action policies in
the LL for each HL action, and supports reasoning with violation of defaults,
noisy observations and unreliable actions in large and complex domains. The
architecture is evaluated in simulation and on physical robots transporting
objects in indoor domains; the benefit on robots is a reduction in task
execution time of 39% compared with a purely probabilistic, but still
hierarchical, approach.Comment: The paper appears in the Proceedings of the 15th International
Workshop on Non-Monotonic Reasoning (NMR 2014
LODE: Linking Digital Humanities Content to the Web of Data
Numerous digital humanities projects maintain their data collections in the
form of text, images, and metadata. While data may be stored in many formats,
from plain text to XML to relational databases, the use of the resource
description framework (RDF) as a standardized representation has gained
considerable traction during the last five years. Almost every digital
humanities meeting has at least one session concerned with the topic of digital
humanities, RDF, and linked data. While most existing work in linked data has
focused on improving algorithms for entity matching, the aim of the
LinkedHumanities project is to build digital humanities tools that work "out of
the box," enabling their use by humanities scholars, computer scientists,
librarians, and information scientists alike. With this paper, we report on the
Linked Open Data Enhancer (LODE) framework developed as part of the
LinkedHumanities project. With LODE we support non-technical users to enrich a
local RDF repository with high-quality data from the Linked Open Data cloud.
LODE links and enhances the local RDF repository without compromising the
quality of the data. In particular, LODE supports the user in the enhancement
and linking process by providing intuitive user-interfaces and by suggesting
high-quality linking candidates using tailored matching algorithms. We hope
that the LODE framework will be useful to digital humanities scholars
complementing other digital humanities tools
Towards an Indexical Model of Situated Language Comprehension for Cognitive Agents in Physical Worlds
We propose a computational model of situated language comprehension based on
the Indexical Hypothesis that generates meaning representations by translating
amodal linguistic symbols to modal representations of beliefs, knowledge, and
experience external to the linguistic system. This Indexical Model incorporates
multiple information sources, including perceptions, domain knowledge, and
short-term and long-term experiences during comprehension. We show that
exploiting diverse information sources can alleviate ambiguities that arise
from contextual use of underspecific referring expressions and unexpressed
argument alternations of verbs. The model is being used to support linguistic
interactions in Rosie, an agent implemented in Soar that learns from
instruction.Comment: Advances in Cognitive Systems 3 (2014
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