Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Preface : CAA 2010: Computer assisted assessment: supporting student learning

The Preface for the first special issue for the International Journal of e-Assessment highlights the role of the assessment for learning agenda. It also points to papers within the special issue which relate to: (a) Overcoming the barriers to supporting student learning with computer-assisted assessment; (b) Marking and computer-assisted assessment; (c) Harnessing the technology to improve efficiency and pedagogy. The papers in this issue stress the general recognition that times are changing and that assessment needs to become embedded in the teaching/learning cycle and not purely as a checking device for the awarding institution. These papers encourage us to rise to the challenge of developing more sophisticated computer-assisted assessment systems that support student learning and there is still a lot to do

SCANN: Synthesis of Compact and Accurate Neural Networks

Deep neural networks (DNNs) have become the driving force behind recent artificial intelligence (AI) research. An important problem with implementing a neural network is the design of its architecture. Typically, such an architecture is obtained manually by exploring its hyperparameter space and kept fixed during training. This approach is time-consuming and inefficient. Another issue is that modern neural networks often contain millions of parameters, whereas many applications and devices require small inference models. However, efforts to migrate DNNs to such devices typically entail a significant loss of classification accuracy. To address these challenges, we propose a two-step neural network synthesis methodology, called DR+SCANN, that combines two complementary approaches to design compact and accurate DNNs. At the core of our framework is the SCANN methodology that uses three basic architecture-changing operations, namely connection growth, neuron growth, and connection pruning, to synthesize feed-forward architectures with arbitrary structure. SCANN encapsulates three synthesis methodologies that apply a repeated grow-and-prune paradigm to three architectural starting points. DR+SCANN combines the SCANN methodology with dataset dimensionality reduction to alleviate the curse of dimensionality. We demonstrate the efficacy of SCANN and DR+SCANN on various image and non-image datasets. We evaluate SCANN on MNIST and ImageNet benchmarks. In addition, we also evaluate the efficacy of using dimensionality reduction alongside SCANN (DR+SCANN) on nine small to medium-size datasets. We also show that our synthesis methodology yields neural networks that are much better at navigating the accuracy vs. energy efficiency space. This would enable neural network-based inference even on Internet-of-Things sensors.Comment: 13 pages, 8 figure

Nonparametric Bayesian Double Articulation Analyzer for Direct Language Acquisition from Continuous Speech Signals

Human infants can discover words directly from unsegmented speech signals without any explicitly labeled data. In this paper, we develop a novel machine learning method called nonparametric Bayesian double articulation analyzer (NPB-DAA) that can directly acquire language and acoustic models from observed continuous speech signals. For this purpose, we propose an integrative generative model that combines a language model and an acoustic model into a single generative model called the "hierarchical Dirichlet process hidden language model" (HDP-HLM). The HDP-HLM is obtained by extending the hierarchical Dirichlet process hidden semi-Markov model (HDP-HSMM) proposed by Johnson et al. An inference procedure for the HDP-HLM is derived using the blocked Gibbs sampler originally proposed for the HDP-HSMM. This procedure enables the simultaneous and direct inference of language and acoustic models from continuous speech signals. Based on the HDP-HLM and its inference procedure, we developed a novel double articulation analyzer. By assuming HDP-HLM as a generative model of observed time series data, and by inferring latent variables of the model, the method can analyze latent double articulation structure, i.e., hierarchically organized latent words and phonemes, of the data in an unsupervised manner. The novel unsupervised double articulation analyzer is called NPB-DAA. The NPB-DAA can automatically estimate double articulation structure embedded in speech signals. We also carried out two evaluation experiments using synthetic data and actual human continuous speech signals representing Japanese vowel sequences. In the word acquisition and phoneme categorization tasks, the NPB-DAA outperformed a conventional double articulation analyzer (DAA) and baseline automatic speech recognition system whose acoustic model was trained in a supervised manner.Comment: 15 pages, 7 figures, Draft submitted to IEEE Transactions on Autonomous Mental Development (TAMD

Coal Seam Thickness Estimation Using GPR and Higher Order Statistics - The Near-Surface Case

A novel pattern recognition-based approach to detect near-surface interfaces using ground penetrating radar (GPR) has been reported in [1]. The approach was used to successfully detect interfaces within 5 cm of the ground surface. This technique has been adapted for the important task of layer thickness estimation in the near-surface range. This is inherently a difficult problem to solve in practice because the radar echo is often dominated by unwanted components such as antenna crosstalk and ring-down, ground reflection effects and clutter. Features derived from the bispectrum and a nearest-neighbour classifier have been utilized for this processing task. It is shown that unlike traditional second order correlation based methods such as matched filtering which can fail in known conditions, layer thickness estimation using this approach can be reliably extended to the near-surface region

Modeling Topic and Role Information in Meetings using the Hierarchical Dirichlet Process

Abstract. In this paper, we address the modeling of topic and role information in multiparty meetings, via a nonparametric Bayesian model called the hierarchical Dirichlet process. This model provides a powerful solution to topic modeling and a flexible framework for the incorporation of other cues such as speaker role information. We present our modeling framework for topic and role on the AMI Meeting Corpus, and illustrate the effectiveness of the approach in the context of adapting a baseline language model in a large-vocabulary automatic speech recognition system for multiparty meetings. The adapted LM produces significant improvements in terms of both perplexity and word error rate.