A review of gait optimization based on evolutionary computation

Gait generation is very important as it directly affects the quality of locomotion of legged robots. As this is an optimization problem with constraints, it readily lends itself to Evolutionary Computation methods and solutions. This paper reviews the techniques used in evolution-based gait optimization, including why Evolutionary Computation techniques should be used, how fitness functions should be composed, and the selection of genetic operators and control parameters. This paper also addresses further possible improvements in the efficiency and quality of evolutionary gait optimization, some problems that have not yet been resolved and the perspectives for related future research

Evolutionary Behavior Tree Approaches for Navigating Platform Games

Computer games are highly dynamic environments, where players are faced with a multitude of potentially unseen scenarios. In this article, AI controllers are applied to the Mario AI Benchmark platform, by using the Grammatical Evolution system to evolve Behavior Tree structures. These controllers are either evolved to both deal with navigation and reactiveness to elements of the game, or used in conjunction with a dynamic A* approach. The results obtained highlight the applicability of Behavior Trees as representations for evolutionary computation, and their flexibility for incorporation of diverse algorithms to deal with specific aspects of bot control in game environments

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition, 10-12 September 2012, Lausanne, Switzerland

The aim of the Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD) is to bring together young scientists working on developmental cognitive robotics and its core disciplines. The conference aims to provide both feedback and greater visibility to their research as lively and stimulating discussion can be held amongst participating PhD students and senior researchers. The conference is open to all PhD students and post-doctoral researchers in the field. RobotDoC-PhD conference is an initiative as a part of Marie-Curie Actions ITN RobotDoC and will be organized as a satellite event of the 22nd International Conference on Artificial Neural Networks ICANN 2012

Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition, 10-12 September 2012, Lausanne, Switzerland

The aim of the Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD) is to bring together young scientists working on developmental cognitive robotics and its core disciplines. The conference aims to provide both feedback and greater visibility to their research as lively and stimulating discussion can be held amongst participating PhD students and senior researchers. The conference is open to all PhD students and post-doctoral researchers in the field. RobotDoC-PhD conference is an initiative as a part of Marie-Curie Actions ITN RobotDoC and will be organized as a satellite event of the 22nd International Conference on Artificial Neural Networks ICANN 2012

‘A Singular Cross-cultural Poetics in a Dual Discourse’ A Study of Lin Yutang’s Self-translation of the Little Critic Essays and Between Tears and Laughter

This thesis approaches Lin Yutang’s Chinese-oriented discourse from his two self-translation projects, rendering respectively his Little Critic column essays and Between Tears and Laughter. The research carried out for this thesis aims to analyse Lin’s self-translation changes, to compare the differences in motivational patterns between these two projects, and to offer possible justification for the unique character of Lin’s text decisions. Due to the heterolinguistic nature of this research project, the research is informed by the domain of Translation Studies, borrowing the broad framework from the ‘architectonics of translation analysis’ by Berman that combine a text analysis and a translator study, and also sources analytical tools from some well-established findings based on linguistics. Hence, this research hopes to enrich the research setting of self-translation in Translation Studies, in the sense that the uniqueness of Lin’s text decisions serves as an example of how self-translators’ decisions differ from allograph translators’

D-TERMINE : data-driven term extraction methodologies investigated

Automatic term extraction is a task in the field of natural language processing that aims to automatically identify terminology in collections of specialised, domain-specific texts. Terminology is defined as domain-specific vocabulary and consists of both single-word terms (e.g., corpus in the field of linguistics, referring to a large collection of texts) and multi-word terms (e.g., automatic term extraction). Terminology is a crucial part of specialised communication since terms can concisely express very specific and essential information. Therefore, quickly and automatically identifying terms is useful in a wide range of contexts. Automatic term extraction can be used by language professionals to find which terms are used in a domain and how, based on a relevant corpus. It is also useful for other tasks in natural language processing, including machine translation. One of the main difficulties with term extraction, both manual and automatic, is the vague boundary between general language and terminology. When different people identify terms in the same text, it will invariably produce different results. Consequently, creating manually annotated datasets for term extraction is a costly, time- and effort- consuming task. This can hinder research on automatic term extraction, which requires gold standard data for evaluation, preferably even in multiple languages and domains, since terms are language- and domain-dependent. Moreover, supervised machine learning methodologies rely on annotated training data to automatically deduce the characteristics of terms, so this knowledge can be used to detect terms in other corpora as well. Consequently, the first part of this PhD project was dedicated to the construction and validation of a new dataset for automatic term extraction, called ACTER – Annotated Corpora for Term Extraction Research. Terms and Named Entities were manually identified with four different labels in twelve specialised corpora. The dataset contains corpora in three languages and four domains, leading to a total of more than 100k annotations, made over almost 600k tokens. It was made publicly available during a shared task we organised, in which five international teams competed to automatically extract terms from the same test data. This illustrated how ACTER can contribute towards advancing the state-of-the-art. It also revealed that there is still a lot of room for improvement, with moderate scores even for the best teams. Therefore, the second part of this dissertation was devoted to researching how supervised machine learning techniques might contribute. The traditional, hybrid approach to automatic term extraction relies on a combination of linguistic and statistical clues to detect terms. An initial list of unique candidate terms is extracted based on linguistic information (e.g., part-of-speech patterns) and this list is filtered based on statistical metrics that use frequencies to measure whether a candidate term might be relevant. The result is a ranked list of candidate terms. HAMLET – Hybrid, Adaptable Machine Learning Approach to Extract Terminology – was developed based on this traditional approach and applies machine learning to efficiently combine more information than could be used with a rule-based approach. This makes HAMLET less susceptible to typical issues like low recall on rare terms. While domain and language have a large impact on results, robust performance was reached even without domain- specific training data, and HAMLET compared favourably to a state-of-the-art rule-based system. Building on these findings, the third and final part of the project was dedicated to investigating methodologies that are even further removed from the traditional approach. Instead of starting from an initial list of unique candidate terms, potential terms were labelled immediately in the running text, in their original context. Two sequential labelling approaches were developed, evaluated and compared: a feature- based conditional random fields classifier, and a recurrent neural network with word embeddings. The latter outperformed the feature-based approach and was compared to HAMLET as well, obtaining comparable and even better results. In conclusion, this research resulted in an extensive, reusable dataset and three distinct new methodologies for automatic term extraction. The elaborate evaluations went beyond reporting scores and revealed the strengths and weaknesses of the different approaches. This identified challenges for future research, since some terms, especially ambiguous ones, remain problematic for all systems. However, overall, results were promising and the approaches were complementary, revealing great potential for new methodologies that combine multiple strategies