Application of multiobjective genetic programming to the design of robot failure recognition systems

We present an evolutionary approach using multiobjective genetic programming (MOGP) to derive optimal feature extraction preprocessing stages for robot failure detection. This data-driven machine learning method is compared both with conventional (nonevolutionary) classifiers and a set of domain-dependent feature extraction methods. We conclude MOGP is an effective and practical design method for failure recognition systems with enhanced recognition accuracy over conventional classifiers, independent of domain knowledge

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often specific to the characteristics of the simulator. Due to modeling error, strategies that are successful in simulation may not transfer to their real world counterparts. In this paper, we demonstrate a simple method to bridge this "reality gap". By randomizing the dynamics of the simulator during training, we are able to develop policies that are capable of adapting to very different dynamics, including ones that differ significantly from the dynamics on which the policies were trained. This adaptivity enables the policies to generalize to the dynamics of the real world without any training on the physical system. Our approach is demonstrated on an object pushing task using a robotic arm. Despite being trained exclusively in simulation, our policies are able to maintain a similar level of performance when deployed on a real robot, reliably moving an object to a desired location from random initial configurations. We explore the impact of various design decisions and show that the resulting policies are robust to significant calibration error

A real time classification algorithm for EEG-based BCI driven by self-induced emotions

Background and objective: The aim of this paper is to provide an efficient, parametric, general, and completely automatic real time classification method of electroencephalography (EEG) signals obtained from self-induced emotions. The particular characteristics of the considered low-amplitude signals (a self-induced emotion produces a signal whose amplitude is about 15% of a really experienced emotion) require exploring and adapting strategies like the Wavelet Transform, the Principal Component Analysis (PCA) and the Support Vector Machine (SVM) for signal processing, analysis and classification. Moreover, the method is thought to be used in a multi-emotions based Brain Computer Interface (BCI) and, for this reason, an ad hoc shrewdness is assumed. Method: The peculiarity of the brain activation requires ad-hoc signal processing by wavelet decomposition, and the definition of a set of features for signal characterization in order to discriminate different self-induced emotions. The proposed method is a two stages algorithm, completely parameterized, aiming at a multi-class classification and may be considered in the framework of machine learning. The first stage, the calibration, is off-line and is devoted at the signal processing, the determination of the features and at the training of a classifier. The second stage, the real-time one, is the test on new data. The PCA theory is applied to avoid redundancy in the set of features whereas the classification of the selected features, and therefore of the signals, is obtained by the SVM. Results: Some experimental tests have been conducted on EEG signals proposing a binary BCI, based on the self-induced disgust produced by remembering an unpleasant odor. Since in literature it has been shown that this emotion mainly involves the right hemisphere and in particular the T8 channel, the classification procedure is tested by using just T8, though the average accuracy is calculated and reported also for the whole set of the measured channels. Conclusions: The obtained classification results are encouraging with percentage of success that is, in the average for the whole set of the examined subjects, above 90%. An ongoing work is the application of the proposed procedure to map a large set of emotions with EEG and to establish the EEG headset with the minimal number of channels to allow the recognition of a significant range of emotions both in the field of affective computing and in the development of auxiliary communication tools for subjects affected by severe disabilities

Early aspects: aspect-oriented requirements engineering and architecture design

This paper reports on the third Early Aspects: Aspect-Oriented Requirements Engineering and Architecture Design Workshop, which has been held in Lancaster, UK, on March 21, 2004. The workshop included a presentation session and working sessions in which the particular topics on early aspects were discussed. The primary goal of the workshop was to focus on challenges to defining methodical software development processes for aspects from early on in the software life cycle and explore the potential of proposed methods and techniques to scale up to industrial applications