A Tractable Extension of Linear Indexed Grammars

It has been shown that Linear Indexed Grammars can be processed in polynomial time by exploiting constraints which make possible the extensive use of structure-sharing. This paper describes a formalism that is more powerful than Linear Indexed Grammar, but which can also be processed in polynomial time using similar techniques. The formalism, which we refer to as Partially Linear PATR manipulates feature structures rather than stacks.Comment: 8 pages LaTeX, uses eaclap.sty, to appear in EACL-9

Interactive Constrained Association Rule Mining

We investigate ways to support interactive mining sessions, in the setting of association rule mining. In such sessions, users specify conditions (queries) on the associations to be generated. Our approach is a combination of the integration of querying conditions inside the mining phase, and the incremental querying of already generated associations. We present several concrete algorithms and compare their performance.Comment: A preliminary report on this work was presented at the Second International Conference on Knowledge Discovery and Data Mining (DaWaK 2000

Exploitation of environmental constraints in human and robotic grasping

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view found through the analysis of human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints

Chiral dynamics and B to 3 pi decay

I discuss our knowledge of the scalar sector of QCD and how it impacts the determination of the CKM angle \alpha from the isospin analysis of B\to \rho\pi decay.Comment: invited talk at International Workshop on Heavy Quarks and Leptons, Vietri sul Mare, Salerno, Italy, 27 May - 1 Jun 200

Exploitation of environmental constraints in human and robotic grasping

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view found through the analysis of human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints

Planning actions in robot automated operations

Action planning in robot automated operations requires intelligent task level programming. Invoking intelligence necessiates a typical blackboard based architecture, where, a plan is a vector between the start frame and the goal frame. This vector is composed of partially ordered bases. A partial ordering of bases presents good and bad sides in action planning. Partial ordering demands the use of a temporal data base management system

Challenges in development of the American Sign Language Lexicon Video Dataset (ASLLVD) corpus

The American Sign Language Lexicon Video Dataset (ASLLVD) consists of videos of >3,300 ASL signs in citation form, each produced by 1-6 native ASL signers, for a total of almost 9,800 tokens. This dataset, including multiple synchronized videos showing the signing from different angles, will be shared publicly once the linguistic annotations and verifications are complete. Linguistic annotations include gloss labels, sign start and end time codes, start and end handshape labels for both hands, morphological and articulatory classifications of sign type. For compound signs, the dataset includes annotations for each morpheme. To facilitate computer vision-based sign language recognition, the dataset also includes numeric ID labels for sign variants, video sequences in uncompressed-raw format, camera calibration sequences, and software for skin region extraction. We discuss here some of the challenges involved in the linguistic annotations and categorizations. We also report an example computer vision application that leverages the ASLLVD: the formulation employs a HandShapes Bayesian Network (HSBN), which models the transition probabilities between start and end handshapes in monomorphemic lexical signs. Further details and statistics for the ASLLVD dataset, as well as information about annotation conventions, are available from http://www.bu.edu/asllrp/lexicon