Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

Collective Design Anticipation

Design and anticipation are two closely related concepts. While previous research has focussed on exploring this relationship, less attention has been paid on uncovering the collective nature of design anticipation. The paper offers a theoretical framework to account for collective design anticipation and the conditions that make it possible. In specific, the paper discusses the notion of a design anticipation space, which embodies temporal and semantic dimensions, and discusses conditions for collective design anticipation through the concept of boundary objects. The results are derived through an abductive methodology that combines theoretical investigations with reflections on empirical work in the wild

Financial Contagion and Attention Allocation

This paper explains financial contagion between two independent stock markets by fluctuations in international investors' attention allocation. I model the process of attention allocation that underlies portfolio investment in international markets using rationally inattentive agents. Investors optimally allocate more attention to a region hit by a financial crisis, to the detriment of other markets. The resulting endogenous increase in uncertainty causes the risk premium on all risky assets to rise. Hence, stock prices around the world collapse and there is a flight to quality. I show that the degree of (non)anticipation of a crisis is crucial for the existence of contagion. Using Financial Times coverage as a proxy for attention allocation, I find strong support for the model's predictions.Financial Crises, Rational Inattention, Portfolio Choice

Attentional modulation of somatosensory processing during the anticipation of movements accompanying pain : an event-related potential study

Attending to pain-relevant information is crucial to protect us from physical harm. Behavioral studies have already suggested that during anticipation of pain somatosensory input at the body location under threat is prioritized. However, research using daily life cues for pain, especially movements, is lacking. Furthermore, to our knowledge, no studies have investigated cortical processing associated with somatosensory processing during threatened movements. The current study aims to investigate whether movements accompanying pain automatically steer attention toward somatosensory input at the threatened location, affecting somatosensory evoked potentials (SEPs). Healthy volunteers were cued to perform movements with the left or the right hand, and one of these movements could be accompanied by pain on the moving hand. During movement anticipation, a task-irrelevant tactile stimulus was presented to the threatened or pain-free hand to evoke SEPs. During anticipation of movements accompanying pain, the N120 component was increased for tactile stimuli at the threatened relative to the hand without pain. Moreover, the P200 SEP was enhanced during anticipation of movements accompanying pain relative to movements without pain, irrespective of which hand was stimulated. These findings show that the anticipation of pain-accompanying movements may affect the processing of somatosensory input, and that this is likely to be driven by attentional processes. PERSPECTIVE: This study shows that the anticipation of pain-related movements automatically biases attention toward stimuli at a pain-related location, measured according to SEPs. The present study provides important new insights in the interplay between pain and attention, and its consequences at the cortical level

Gaining insights on the influence of attention, anxiety, and anticipation on pain perception

Purpose: This article highlights the influence of attention and pain anticipation on pain attenuation. Pain-related trait anxiety was found to moderate the effect that attention strategies impose on pain perception. This article may contribute to clinical treatments quality, where pain attenuation effect is desired. Participants and methods: One hundred seven participants, comprising of 72 (67%) females and 35 (33%) males between the age of 17 and 48 (M=22.6, SD =4.36), were used in the analysis. The current study measured the effect of pain anticipation and attention on three aspects of pain perception: threshold, tolerance, and perceived pain intensity. Pain anticipation was manipulated by varying the amount of information given to participants about a future pain stimulus. Attention was manipulated through a sensory focusing task and a distraction task. Participants were randomized into 1) InfoControl group with distraction task trial (n=30), 2) InfoControl group with attention to pain trial (n=26), 3) InfoExtra group with distraction task trial (n=26), or 4) InfoExtra group with attention to pain trial (n=25). The pain stimulus was delivered in a form of heat. The moderating effects of pain-related trait anxiety on these variables were also investigated using Pain Anxiety Symptom Scale Short Form. Results: Two structural equation models revealed that anticipation is not a predictor of pain perception and neither did it interact with pain-related trait anxiety. However, attention strategies do significantly relate to pain perception. Furthermore, pain-related anxiety was a significant moderator of attention and pain attenuation. These findings imply that the effectiveness of attention strategies in attenuating pain is affected by individuals' pain-related trait anxiety. Conclusion: The results suggest the importance of appointing the appropriate attention strategy to different individuals with varying level of trait anxiety. Future explorations are necessary to develop a more specific understanding on the nature of information and distractions on pain perception

The Impact of Acute Psychosocial Stress on Magnetoencephalographic Correlates of Emotional Attention and Exogenous Visual Attention

Stress-induced acute activation of the cerebral catecholaminergic systems has often been found in rodents. However, little is known regarding the consequences of this activation on higher cognitive functions in humans. Theoretical inferences would suggest increased distractibility in the sense of increased exogenous attention and emotional attention. The present study investigated the influence of acute stress responses on magnetoencephalographic (MEG) correlates of visual attention. Healthy male subjects were presented emotional and neutral pictures in three subsequent MEG recording sessions after being exposed to a TSST-like social stressor, intended to trigger a HPA-response. The subjects anticipation of another follow-up stressor was designed to sustain the short-lived central catecholaminergic stress reactions throughout the ongoing MEG recordings. The heart rate indicates a stable level of anticipatory stress during this time span, subsequent cortisol concentrations and self-report measures of stress were increased. With regard to the MEG correlates of attentional functions, we found that the N1m amplitude remained constantly elevated during stressor anticipation. The magnetic early posterior negativity (EPNm) was present but, surprisingly, was not at all modulated during stressor anticipation. This suggests that a general increase of the influence of exogenous attention but no specific effect regarding emotional attention in this time interval. Regarding the time course of the effects, an influence of the HPA on these MEG correlates of attention seems less likely. An influence of cerebral catecholaminergic systems is plausible, but not definite

Mid-morning Break and Poster Sessions: Application of the Theory of Planned Behaviour within School-Based Prevention Programs for Adolescent Gambling

The theory of planned behaviour (TPB) and the concept of anticipatory negative emotions have attracted considerable research attention in the formulation of effective preventive interventions. This approach has identified several key constructs (i.e., attitudes, subjective norms, perceptions of control, anticipation of negative emotions) as valid predictors of gambling intentions and behaviour. However, no empirical investigation has utilized these constructs in the design or evaluation of a youth problem gambling prevention initiative. Objectives. The current research aims to assess the effects of a prevention video on gambling-related attitudes, subjective norms, control perceptions, anticipated negative emotions, and intentions. The video focuses on a problem gambler’s testimonial and includes dramatic vignettes depicting the potential risks and consequences associated with excessive gambling. Methodology. A sample of 328 high school students were randomly assigned to either a video or control group. Participants were assessed at pre- and post-intervention. Results. Preliminary results reveal that the video produced changes in students’: (i) attitudes towards; (ii) perceptions of control over and; (iii) negative anticipatory emotions following excessive participation in gambling. Individuals receiving the intervention were observed to have a significant decreases in positive attitudes toward gambling as well as perceptions of control over gambling, and a significant increase in their anticipation of negative emotions for becoming over-involved in gambling. Conclusions. Positive effects of the video were found. Recommendations for future research are discussed

Interaction Visual Transformer for Egocentric Action Anticipation

Human-object interaction is one of the most important visual cues that has not been explored for egocentric action anticipation. We propose a novel Transformer variant to model interactions by computing the change in the appearance of objects and human hands due to the execution of the actions and use those changes to refine the video representation. Specifically, we model interactions between hands and objects using Spatial Cross-Attention (SCA) and further infuse contextual information using Trajectory Cross-Attention to obtain environment-refined interaction tokens. Using these tokens, we construct an interaction-centric video representation for action anticipation. We term our model InAViT which achieves state-of-the-art action anticipation performance on large-scale egocentric datasets EPICKTICHENS100 (EK100) and EGTEA Gaze+. InAViT outperforms other visual transformer-based methods including object-centric video representation. On the EK100 evaluation server, InAViT is the top-performing method on the public leaderboard (at the time of submission) where it outperforms the second-best model by 3.3% on mean-top5 recall