Towards Visual Ego-motion Learning in Robots

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these tasks, in a minimally supervised setting, as they gain more experience. To this end, we propose a fully trainable solution to visual ego-motion estimation for varied camera optics. We propose a visual ego-motion learning architecture that maps observed optical flow vectors to an ego-motion density estimate via a Mixture Density Network (MDN). By modeling the architecture as a Conditional Variational Autoencoder (C-VAE), our model is able to provide introspective reasoning and prediction for ego-motion induced scene-flow. Additionally, our proposed model is especially amenable to bootstrapped ego-motion learning in robots where the supervision in ego-motion estimation for a particular camera sensor can be obtained from standard navigation-based sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through experiments, we show the utility of our proposed approach in enabling the concept of self-supervised learning for visual ego-motion estimation in autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures, 2 table

Moral reasoning in sport:validation of the Portuguese version of the RSBH value-judgement inventory in adolescents

The purpose of this study was to examine the validity and reliability of the Portuguese version of the Rudd Stoll Beller Hahm Value-judgement Inventory (RSBHVI) in a sample of adolescents. The RSBHVI, which measures moral and social reasoning, was translated using a back translation method. A sample of 238 10th to 12th grade high school students (age mean value 16.93 years, s = 1.34) completed the Portuguese versions of RSBH, and the Task and Ego-orientation Questionnaire. Partial support for the original structure of the moral reasoning scale, but not the social reasoning scale, was found. Females, and non-athletes and individual sport athletes scored significantly higher than males and team sport athletes in moral reasoning, respectively. Moral reasoning was negatively correlated with ego-orientation (r = −30; p <. 001) and uncorrelated with task-orientation (r = .10, p > .05). Participants who were low-ego scored higher in moral reasoning than those who were high-ego. It is suggested that decreasing levels of ego-orientation may be necessary to improve athletes’ moral reasoning

Does a brief mindfulness intervention counteract the detrimental effects of ego-depletion in basketball free throw under pressure?

Research has shown that a brief mindfulness intervention may counteract the depleting effects of an emotion suppression task upon a subsequent psychological task that requires self-control. However, the effects of a brief mindfulness intervention on perceptual–motor tasks particularly in stressful situations have not yet been examined. The purpose of this study was to investigate whether a brief mindfulness intervention can counteract the detrimental effects of ego-depletion in basketball free throw performance under pressure. Seventy-two basketball players (mean age = 28.6 ± 4.0 yrs) were randomly assigned to one of the following 4 groups: depletion/mindfulness, no depletion/mindfulness, depletion/no mindfulness and control (no depletion/no mindfulness). The mindfulness intervention consisted of a 15-min breathe and body mindfulness audio exercise, while the control condition (no mindfulness) listened to an audio book. A modified Stroop color-word task was used to manipulate self–control and induce ego depletion. Participants performed 30 free throws before and after the experimental manipulations. Results showed that basketball players’ free throw performance decreased after ego-depletion, but when ego-depletion was followed by the mindfulness intervention, free throw performance was maintained at a level similar to the control group. Our results indicate that a brief mindfulness intervention mitigates the effects of ego depletion in a basketball free-throw task

The effects of goal involvement on moral behavior in an experimentally manipulated competitive setting

In this experiment we examined the effects of task and ego involvement on three measures of moral behavior-prosocial choice, observed prosocial behavior, and observed antisocial behavior-in a competitive setting. We also investigated sex differences in moral behavior. Male (n = 48) and female (n = 48) college students were randomly assigned to a task-involving, an ego-involving, or a control condition. Participants played two 10-min games of table soccer and completed measures of prosocial choice, goal involvement, goal orientation, and demographics. The two games were recorded, and frequencies of prosocial and antisocial behavior were coded. Players assigned to the task-involving condition were higher in prosocial choice than those in the ego-involving or control conditions. Individuals in the ego-involving condition displayed more antisocial behaviors than those in the task-involving or control conditions. Finally, females displayed more prosocial behaviors than males

Predicting occurrence of and responses to psychological difficulties: the interplay between achievement goals, perceived ability and motivational climates among Korean athletes

The present study investigated the interrelationship of goal orientations, perceived ability, and perceived motivational climate to the experience of stress, perceived controllability, and choice of coping strategies. A total of 404 Korean intercollegiate athletes participated in the study. The results from moderated multiple regression analyses revealed that the experience of psychological difficulties was positively predicted by a perceived ego-involving climate and negatively predicted by perceived ability. The perceived controllability over stress was highest among athletes who had higher levels of task and ego orientation in a more taskinvolving atmosphere. Athletes used more approach coping as they perceived a higher level of task orientation regardless the level of perceived ability, and when they indicated higher task orientation scores in a low ego-involving environment. The avoidance/withdrawal coping strategies were positively related to an ego-involving climate. The findings implied that an examination of cultural variations in motivational factors and coping process among sport participants in a different culture may further extend theoretical applicability across diverse populations

Ernst Mach on the Self

In his Contributions to the Analysis of the Sensations (Mach 1885) the phenomenalist philosopher Ernst Mach confronts us with a difficulty: “If we regard the Ego as a real unity, we become involved in the following dilemma: either we must set over against the Ego a world of unknowable entities […] or we must regard the whole world, the Egos of other people included, as comprised in our own Ego.” (Mach 1885: 21) In other words, if we start from a phenomenalist viewpoint, i.e., if we believe that the manifold of sensations we are confronted with is ontologically fundamental —as Mach clearly does: “For us, colors, sounds, spaces, times,… are the ultimate ele-ments” (Mach 1885: 23)—then we are in danger to end up in solipsism. Unless, that is, we assume that some underlying thing-in-itself substratum from which matter, we ourselves, and all the others emanate. The only other alter-native seems to be—and Mach advertises it vehemently for he denies any “mons-trous notion of a thing-in-itself” (Mach 1885: 6)1—that we get rid of the Ego. For, if there is no Self in the first place, then the question whether there are others dissolves. To put it the other way round, it is ok that the others do not exist because, really, I do not exist either. If the Ego is a Myth solipsism is not just wrong but nonsense. There are two questions this paper wishes to address: first, do we need independent additional support for the denial of the Self or is the avoidance of solipsism reason enough to assume the Ego’s non-existence? I will argue that we do need additional reasons and I will evaluate those that Mach indeed gives to prove that “the primary fact is not the I, the Ego, but the elements (sensations)” (Mach 1885: 19). Second, is the deconstruction of the I, even if further sufficient support can be found, really adequate to stop us from worrying about solipsism? The doubt I will put forward is that the illusion of a Self might conjure up enough of an Ego—just like feeling a pain is having a pain, even if it is located in a phantom limb—to start us wondering whether it also occurs elsewhere