Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs

Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion on difficult terrains with real-time performance guarantees remains a challenge. We present here a real-time, dynamic foothold adaptation strategy based on visual feedback. Our method adjusts the landing position of the feet in a fully reactive manner, using only on-board computers and sensors. The correction is computed and executed continuously along the swing phase trajectory of each leg. To efficiently adapt the landing position, we implement a self-supervised foothold classifier based on a Convolutional Neural Network (CNN). Our method results in an up to 200 times faster computation with respect to the full-blown heuristics. Our goal is to react to visual stimuli from the environment, bridging the gap between blind reactive locomotion and purely vision-based planning strategies. We assess the performance of our method on the dynamic quadruped robot HyQ, executing static and dynamic gaits (at speeds up to 0.5 m/s) in both simulated and real scenarios; the benefit of safe foothold adaptation is clearly demonstrated by the overall robot behavior.Comment: 9 pages, 11 figures. Accepted to RA-L + ICRA 2019, January 201

Activity-dependent neuronal model on complex networks

Neuronal avalanches are a novel mode of activity in neuronal networks, experimentally found in vitro and in vivo, and exhibit a robust critical behaviour: These avalanches are characterized by a power law distribution for the size and duration, features found in other problems in the context of the physics of complex systems. We present a recent model inspired in self-organized criticality, which consists of an electrical network with threshold firing, refractory period and activity-dependent synaptic plasticity. The model reproduces the critical behaviour of the distribution of avalanche sizes and durations measured experimentally. Moreover, the power spectra of the electrical signal reproduce very robustly the power law behaviour found in human electroencephalogram (EEG) spectra. We implement this model on a variety of complex networks, i.e. regular, small-world and scale-free and verify the robustness of the critical behaviour.Comment: 9 pages, 8 figure

Research on new techniques for the analysis of manual control systems Progress report, 15 Jun. 1969 - 15 Jun. 1970

Applying statistical decision theory to manual adaptive control system

Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854

Learning midlevel image features for natural scene and texture classification

This paper deals with coding of natural scenes in order to extract semantic information. We present a new scheme to project natural scenes onto a basis in which each dimension encodes statistically independent information. Basis extraction is performed by independent component analysis (ICA) applied to image patches culled from natural scenes. The study of the resulting coding units (coding filters) extracted from well-chosen categories of images shows that they adapt and respond selectively to discriminant features in natural scenes. Given this basis, we define global and local image signatures relying on the maximal activity of filters on the input image. Locally, the construction of the signature takes into account the spatial distribution of the maximal responses within the image. We propose a criterion to reduce the size of the space of representation for faster computation. The proposed approach is tested in the context of texture classification (111 classes), as well as natural scenes classification (11 categories, 2037 images). Using a common protocol, the other commonly used descriptors have at most 47.7% accuracy on average while our method obtains performances of up to 63.8%. We show that this advantage does not depend on the size of the signature and demonstrate the efficiency of the proposed criterion to select ICA filters and reduce the dimensio

QoE-Based Low-Delay Live Streaming Using Throughput Predictions

Recently, HTTP-based adaptive streaming has become the de facto standard for video streaming over the Internet. It allows clients to dynamically adapt media characteristics to network conditions in order to ensure a high quality of experience, that is, minimize playback interruptions, while maximizing video quality at a reasonable level of quality changes. In the case of live streaming, this task becomes particularly challenging due to the latency constraints. The challenge further increases if a client uses a wireless network, where the throughput is subject to considerable fluctuations. Consequently, live streams often exhibit latencies of up to 30 seconds. In the present work, we introduce an adaptation algorithm for HTTP-based live streaming called LOLYPOP (Low-Latency Prediction-Based Adaptation) that is designed to operate with a transport latency of few seconds. To reach this goal, LOLYPOP leverages TCP throughput predictions on multiple time scales, from 1 to 10 seconds, along with an estimate of the prediction error distribution. In addition to satisfying the latency constraint, the algorithm heuristically maximizes the quality of experience by maximizing the average video quality as a function of the number of skipped segments and quality transitions. In order to select an efficient prediction method, we studied the performance of several time series prediction methods in IEEE 802.11 wireless access networks. We evaluated LOLYPOP under a large set of experimental conditions limiting the transport latency to 3 seconds, against a state-of-the-art adaptation algorithm from the literature, called FESTIVE. We observed that the average video quality is by up to a factor of 3 higher than with FESTIVE. We also observed that LOLYPOP is able to reach a broader region in the quality of experience space, and thus it is better adjustable to the user profile or service provider requirements.Comment: Technical Report TKN-16-001, Telecommunication Networks Group, Technische Universitaet Berlin. This TR updated TR TKN-15-00

Does learning different script systems affect configural visual processing? ERP evidence from early readers of Chinese and German

Reading is a complex cultural skill requiring considerable training, apparently affecting also the processing of non-linguistic visual stimuli. We examined whether the different visual demands involved in reading different script systems—alphabetic German versus logographic Chinese script—would differentially influence configural visual processing. Our main dependent measure was the N170 component of the ERP, which is considered as a signature of configural processing. In the present study, German and Chinese children (N = 28 vs. 27) who had received about one year of formal instruction in their native script system, worked on a series of one-back tasks with naturalistic faces, two-tone Mooney faces and doodles, and on an adaptation task with pairs of faces were either identical or differed in their second-order relations. Chinese children showed larger N170 amplitudes than German children for naturalistic and Mooney faces, specifically indicating superior holistic processing in Chinese children. In contrast, there was no superiority in Chinese children on the second-order adaptation effect at the N170, providing no evidence for differences in second-order relations processing of facial configurations between the groups. Given the sensitivity of the visual system to reading acquisition, these findings suggest that these group differences in holistic processing might be due to the extensive training with the highly complex logographic script system learned by Chinese children, imposing high demands on higher-order visual perception.China Scholarship Council http://dx.doi.org/10.13039/501100004543National Natural Science Foundation of China http://dx.doi.org/10.13039/501100001809Peer Reviewe