SymbolDesign: A User-centered Method to Design Pen-based Interfaces and Extend the Functionality of Pointer Input Devices

A method called "SymbolDesign" is proposed that can be used to design user-centered interfaces for pen-based input devices. It can also extend the functionality of pointer input devices such as the traditional computer mouse or the Camera Mouse, a camera-based computer interface. Users can create their own interfaces by choosing single-stroke movement patterns that are convenient to draw with the selected input device and by mapping them to a desired set of commands. A pattern could be the trace of a moving finger detected with the Camera Mouse or a symbol drawn with an optical pen. The core of the SymbolDesign system is a dynamically created classifier, in the current implementation an artificial neural network. The architecture of the neural network automatically adjusts according to the complexity of the classification task. In experiments, subjects used the SymbolDesign method to design and test the interfaces they created, for example, to browse the web. The experiments demonstrated good recognition accuracy and responsiveness of the user interfaces. The method provided an easily-designed and easily-used computer input mechanism for people without physical limitations, and, with some modifications, has the potential to become a computer access tool for people with severe paralysis.National Science Foundation (IIS-0093367, IIS-0308213, IIS-0329009, EIA-0202067

Psychiatry beyond the brain: externalism, mental health, and autistic spectrum disorder

Externalist theories hold that a comprehensive understanding of mental disorder cannot be achieved unless we attend to factors that lie outside of the head: neural explanations alone will not fully capture the complex dependencies that exist between an individual’s psychiatric condition and her social, cultural, and material environment. Here, we firstly offer a taxonomy of ways in which the externalist viewpoint can be understood, and unpack its commitments concerning the nature and physical realization of mental disorder. Secondly, we apply a strongly externalist approach to the case of Autistic Spectrum Disorder, and argue that this condition can be illuminated by appeal to the hypothesis of extended cognition. We conclude by briefly considering the significance this strongly externalist approach may have for psychiatric practice and pedagogy

Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

Evaluating surgical skills from kinematic data using convolutional neural networks

The need for automatic surgical skills assessment is increasing, especially because manual feedback from senior surgeons observing junior surgeons is prone to subjectivity and time consuming. Thus, automating surgical skills evaluation is a very important step towards improving surgical practice. In this paper, we designed a Convolutional Neural Network (CNN) to evaluate surgeon skills by extracting patterns in the surgeon motions performed in robotic surgery. The proposed method is validated on the JIGSAWS dataset and achieved very competitive results with 100% accuracy on the suturing and needle passing tasks. While we leveraged from the CNNs efficiency, we also managed to mitigate its black-box effect using class activation map. This feature allows our method to automatically highlight which parts of the surgical task influenced the skill prediction and can be used to explain the classification and to provide personalized feedback to the trainee.Comment: Accepted at MICCAI 201

Composable Deep Reinforcement Learning for Robotic Manipulation

Model-free deep reinforcement learning has been shown to exhibit good performance in domains ranging from video games to simulated robotic manipulation and locomotion. However, model-free methods are known to perform poorly when the interaction time with the environment is limited, as is the case for most real-world robotic tasks. In this paper, we study how maximum entropy policies trained using soft Q-learning can be applied to real-world robotic manipulation. The application of this method to real-world manipulation is facilitated by two important features of soft Q-learning. First, soft Q-learning can learn multimodal exploration strategies by learning policies represented by expressive energy-based models. Second, we show that policies learned with soft Q-learning can be composed to create new policies, and that the optimality of the resulting policy can be bounded in terms of the divergence between the composed policies. This compositionality provides an especially valuable tool for real-world manipulation, where constructing new policies by composing existing skills can provide a large gain in efficiency over training from scratch. Our experimental evaluation demonstrates that soft Q-learning is substantially more sample efficient than prior model-free deep reinforcement learning methods, and that compositionality can be performed for both simulated and real-world tasks.Comment: Videos: https://sites.google.com/view/composing-real-world-policies

Evaluating weaknesses of "perceptual-cognitive training" and "brain training" methods in sport: An ecological dynamics critique

The recent upsurge in "brain training and perceptual-cognitive training," proposing to improve isolated processes, such as brain function, visual perception, and decision-making, has created significant interest in elite sports practitioners, seeking to create an "edge" for athletes. The claims of these related "performance-enhancing industries" can be considered together as part of a process training approach proposing enhanced cognitive and perceptual skills and brain capacity to support performance in everyday life activities, including sport. For example, the "process training industry" promotes the idea that playing games not only makes you a better player but also makes you smarter, more alert, and a faster learner. In this position paper, we critically evaluate the effectiveness of both types of process training programmes in generalizing transfer to sport performance. These issues are addressed in three stages. First, we evaluate empirical evidence in support of perceptual-cognitive process training and its application to enhancing sport performance. Second, we critically review putative modularized mechanisms underpinning this kind of training, addressing limitations and subsequent problems. Specifically, we consider merits of this highly specific form of training, which focuses on training of isolated processes such as cognitive processes (attention, memory, thinking) and visual perception processes, separately from performance behaviors and actions. We conclude that these approaches may, at best, provide some "general transfer" of underlying processes to specific sport environments, but lack "specificity of transfer" to contextualize actual performance behaviors. A major weakness of process training methods is their focus on enhancing the performance in body "modules" (e.g., eye, brain, memory, anticipatory sub-systems). What is lacking is evidence on how these isolated components are modified and subsequently interact with other process "modules," which are considered to underlie sport performance. Finally, we propose how an ecological dynamics approach, aligned with an embodied framework of cognition undermines the rationale that modularized processes can enhance performance in competitive sport. An ecological dynamics perspective proposes that the body is a complex adaptive system, interacting with performance environments in a functionally integrated manner, emphasizing that the inter-relation between motor processes, cognitive and perceptual functions, and the constraints of a sport task is best understood at the performer-environment scale of analysis

Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning

Model-free deep reinforcement learning algorithms have been shown to be capable of learning a wide range of robotic skills, but typically require a very large number of samples to achieve good performance. Model-based algorithms, in principle, can provide for much more efficient learning, but have proven difficult to extend to expressive, high-capacity models such as deep neural networks. In this work, we demonstrate that medium-sized neural network models can in fact be combined with model predictive control (MPC) to achieve excellent sample complexity in a model-based reinforcement learning algorithm, producing stable and plausible gaits to accomplish various complex locomotion tasks. We also propose using deep neural network dynamics models to initialize a model-free learner, in order to combine the sample efficiency of model-based approaches with the high task-specific performance of model-free methods. We empirically demonstrate on MuJoCo locomotion tasks that our pure model-based approach trained on just random action data can follow arbitrary trajectories with excellent sample efficiency, and that our hybrid algorithm can accelerate model-free learning on high-speed benchmark tasks, achieving sample efficiency gains of 3-5x on swimmer, cheetah, hopper, and ant agents. Videos can be found at https://sites.google.com/view/mbm

Collective Robot Reinforcement Learning with Distributed Asynchronous Guided Policy Search

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that generalizes well across a wide range of real-world conditions requires far greater quantity and diversity of experience than is practical to collect with a single robot. Fortunately, it is possible for multiple robots to share their experience with one another, and thereby, learn a policy collectively. In this work, we explore distributed and asynchronous policy learning as a means to achieve generalization and improved training times on challenging, real-world manipulation tasks. We propose a distributed and asynchronous version of Guided Policy Search and use it to demonstrate collective policy learning on a vision-based door opening task using four robots. We show that it achieves better generalization, utilization, and training times than the single robot alternative.Comment: Submitted to the IEEE International Conference on Robotics and Automation 201