Semantic Robot Programming for Goal-Directed Manipulation in Cluttered Scenes

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal scene in workspace. The robot then parses this goal as a scene graph comprised of object poses and inter-object relations, assuming known object geometries. Task and motion planning is then used to realize the user's goal from an arbitrary initial scene configuration. Even when faced with different initial scene configurations, SRP enables the robot to seamlessly adapt to reach the user's demonstrated goal. For scene perception, we propose the Discriminatively-Informed Generative Estimation of Scenes and Transforms (DIGEST) method to infer the initial and goal states of the world from RGBD images. The efficacy of SRP with DIGEST perception is demonstrated for the task of tray-setting with a Michigan Progress Fetch robot. Scene perception and task execution are evaluated with a public household occlusion dataset and our cluttered scene dataset.Comment: published in ICRA 201

Memory in autism spectrum disorder: a meta-analysis of experimental studies

To address inconsistencies in the literature on memory in Autism Spectrum Disorder (ASD), we report the first ever meta-analysis of short-term (STM) and episodic long-term (LTM) memory in ASD, evaluating the effects of type of material, type of retrieval and the role of inter-item relations. Analysis of 64 studies comparing individuals with ASD and typical development (TD) showed greater difficulties in ASD compared to TD individuals in STM (Hedges’ g=-0.53 [95%CI -0.90; -0.16], p=.005, I²=96%) compared to LTM (g=-0.30 [95%CI -0.42; -0.17], p<.00001, I²=24%), a small difficulty in verbal LTM (g=-0.21, p=.01), contrasting with a medium difficulty for visual LTM (g= -0.41, p=.0002) in ASD compared to TD individuals. We also found a general diminution in free recall compared to cued recall and recognition (LTM, free recall: g=-0.38, p<.00001, cued recall: g=-0.08, p=.58, recognition: g=-0.15, p=.16; STM, free recall: g=-0.59, p=.004, recognition: g=-0.33, p=.07). We discuss these results in terms of their relation to semantic memory. The limited diminution in verbal LTM and preserved overall recognition and cued recall (supported retrieval) may result from a greater overlap of these tasks with semantic long-term representations which are overall preserved in ASD. By contrast, difficulties in STM or free recall may result from less overlap with the semantic system or may involve additional cognitive operations and executive demands. These findings highlight the need to support STM functioning in ASD and acknowledge the potential benefit of using verbal materials at encoding and broader forms of memory support at retrieval to enhance performance

EU accession and Poland's external trade policy

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Socially Constrained Structural Learning for Groups Detection in Crowd

Modern crowd theories agree that collective behavior is the result of the underlying interactions among small groups of individuals. In this work, we propose a novel algorithm for detecting social groups in crowds by means of a Correlation Clustering procedure on people trajectories. The affinity between crowd members is learned through an online formulation of the Structural SVM framework and a set of specifically designed features characterizing both their physical and social identity, inspired by Proxemic theory, Granger causality, DTW and Heat-maps. To adhere to sociological observations, we introduce a loss function (G-MITRE) able to deal with the complexity of evaluating group detection performances. We show our algorithm achieves state-of-the-art results when relying on both ground truth trajectories and tracklets previously extracted by available detector/tracker systems

The very same thing: Extending the object token concept to incorporate causal constraints on individual identity

The contributions of feature recognition, object categorization, and recollection of episodic memories to the re-identification of a perceived object as the very same thing encountered in a previous perceptual episode are well understood in terms of both cognitive-behavioral phenomenology and neurofunctional implementation. Human beings do not, however, rely solely on features and context to re-identify individuals; in the presence of featural change and similarly-featured distractors, people routinely employ causal constraints to establish object identities. Based on available cognitive and neurofunctional data, the standard object-token based model of individual re-identification is extended to incorporate the construction of unobserved and hence fictive causal histories (FCHs) of observed objects by the pre-motor action planning system. Cognitive-behavioral and implementation-level predictions of this extended model and methods for testing them are outlined. It is suggested that functional deficits in the construction of FCHs are associated with clinical outcomes in both Autism Spectrum Disorders and later-stage stage Alzheimer's disease.\u

Measuring Affective Responses to Different Types of Nature Exposure

Natural environments provide many physical and physiological benefits for an individual. Examples may include decreased stress levels, increased intrinsic motivations and prosocial behavior, and more. Fueled by the curiosity of the extent to which nature provides these benefits, this study investigated whether pre-existing preference for either waterscape scenes or mountainous scenes, as well as self-reported affective and associative responses to those environmental exposures are possible explanations for the experience of wellbeing when one is exposed to nature. Measures included the Nature Relatedness Scale, State Vitality Scale, Positive and Negative Affect Scale, and a nature preference scale (mountainous vs. waterscape). Nature relatedness was a significant predictor for state vitality and positive affect, as participants who scored higher on the nature relatedness scale prior to the study rated themselves as happier and more energized after viewing nature scenes. More participants in the water condition cognitively associated themselves interacting with the environment, recounting specific memories of their own, as well as reporting more calm cognitive associations. Also, people who preferred waterscape scenes reported more calm cognitive associations in both conditions. The interaction between picture type and nature preference for the restorative element of fascination showed that individuals who preferred a specific type of nature scene were in turn more fascinated when viewing the scene they preferred. Implications for these results suggest that people who are more closely related to nature experience higher levels of positive affect and state vitality when exposed to natural environments. In addition, one’s own nature preferences result in higher levels of fascination when viewing environments that you like to see

Diagnostic colours of emotions

This thesis investigates the role of colour in the cognitive processesing of emotional information. The research is guided by the effect of colour diagnosticity which has been shown previously to influence recognition performance of several types of objects as well as natural scenes. The research presented in Experiment 1 examined whether colour information is considered a diagnostic perceptual feature of seven emotional categories: happiness, sadness, anger, fear, disgust, surprise and neutral. Participants (N = 119), who were naïve to the specific purpose and expectations of the experiment, chose colour more than any other perceptual quality (e.g. shape and tactile information) as a feature that describes the seven emotional categories. The specific colour features given for the six basic emotions were consistently different from those given to the non-emotional neutral category. While emotional categories were often described by chromatic colour features (e.g. red, blue, orange) the neutral category was often ascribed achromatic colour features (e.g. white, grey, transparent) as the most symptomatic perceptual qualities for its description. The emotion 'anger' was unique in being the only emotion showing an agreement higher that 50% of the total given colour features for one particular colour - red. Confirming that colour is a diagnostic feature of emotions led to the examination of the effect of diagnostic colours of emotion on recognition memory for emotional words and faces: the effect, if any, of appropriate and inappropriate colours (matched with emotion) on the strength of memory for later recognition of faces and words (Experiments 2 & 3). The two experiments used retention intervals of 15 minutes and one week respectively and the colour-emotion associations were determined for each individual participant. Results showed that regardless of the subject’s consistency level in associating colours with emotions, and compared with the individual inappropriate or random colours, individual appropriate colours of emotions significantly enhance recognition memory for six basic emotional faces and words. This difference between the individual inappropriate colours or random colours and the individual appropriate colours of emotions was not found to be significant for non-emotional neutral stimuli. Post hoc findings from both experiments further show that appropriate colours of emotion are associated more consistently than inappropriate colours of emotions. This suggests that appropriate colour-emotion associations are unique both in their strength of association and in the form of their representation. Experiment 4 therefore aimed to investigate whether appropriate colour-emotion associations also trigger an implicit automatic cognitive system that allows faster naming times for appropriate versus inappropriate colours of emotional word carriers. Results from the combined Emotional-Semantic Stroop task confirm the above hypothesis and therefore imply that colour plays a substantial role not only in our conceptual representations of objects but also in our conceptual representations of basic emotions. The resemblance of the present findings collectively to those found previously for objects and natural scenes suggests a common cognitive mechanism for the processing of emotional diagnostic colours and the processing of diagnostic colours of objects or natural scenes. Overall, this thesis provides the foundation for many future directions of research in the area of colour and emotion as well as a few possible immediate practical implications

Mobile Agents for Mobile Tourists: A User Evaluation of Gulliver's Genie

How mobile computing applications and services may be best designed, implemented and deployed remains the subject of much research. One alternative approach to developing software for mobile users that is receiving increasing attention from the research community is that of one based on intelligent agents. Recent advances in mobile computing technology have made such an approach feasible. We present an overview of the design and implementation of an archetypical mobile computing application, namely that of an electronic tourist guide. This guide is unique in that it comprises a suite of intelligent agents that conform to the strong intentional stance. However, the focus of this paper is primarily concerned with the results of detailed user evaluations conducted on this system. Within the literature, comprehensive evaluations of mobile context-sensitive systems are sparse and therefore, this paper seeks, in part, to address this deficiency

Foraging for spatial information: Patterns of orientation learning using desktop virtual reality

The purpose of the study was to provide a description of how learners use desktop VR systems for orientation learning that instructional designers could use to improve the technology. The study used a mixed method, content analysis approach based on a theoretical framework that included principles of self-regulated learning (SRL) and orientation learning. Twelve participants used desktop virtual reality (VR) systems to explore the virtual surround of a residential space. A screen-recording program captured participants' navigation movements and think-aloud verbalizations. Participants' recorded think-aloud verbalizations were coded to identify the orientation learning and SRL events they used during the session. Analysis of the participant movement data revealed that eight of the participants generally moved in a single direction through the surround, whereas the remaining four moved in a direction and then reversed that direction. Movement patterns of some participants were found to be different at the beginning and end of their VR session, and some participants tended to navigate through certain areas of the surround more slowly than through other areas. Some participants tended to view the scene at a constant field of view level, whereas other varied the level. Additionally, some participants tended to view a particular area of the scene with narrower or wider fields of view, but others varied the field of view level across the scene. A model of orientation learning events was derived from content analysis of the think-aloud transcripts showing that participants engaged in four major types of learning categories: identifying, locating, regulating, and contextualizing. Participants were classified into four groups according to relative frequency distributions of the event categories. The study concluded that use of SRL events varied amongst the participants, and that the participant used a diverse set of movement and learning event patterns. Further conclusions noted that virtual scene objects possessed meaning for learners, and that thought verbalizations indicated that some of the learners attained a sense of presence in the VR environment. Finally, the study concluded that qualitative techniques such as thought verbalizations may provide a new paradigm for measuring presence in virtual environments