Robot Navigation in Unseen Spaces using an Abstract Map

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to softwar

THE "POWER" OF TEXT PRODUCTION ACTIVITY IN COLLABORATIVE MODELING : NINE RECOMMENDATIONS TO MAKE A COMPUTER SUPPORTED SITUATION WORK

Language is not a direct translation of a speaker’s or writer’s knowledge or intentions. Various complex processes and strategies are involved in serving the needs of the audience: planning the message, describing some features of a model and not others, organizing an argument, adapting to the knowledge of the reader, meeting linguistic constraints, etc. As a consequence, when communicating about a model, or about knowledge, there is a complex interaction between knowledge and language. In this contribution, we address the question of the role of language in modeling, in the specific case of collaboration over a distance, via electronic exchange of written textual information. What are the problems/dimensions a language user has to deal with when communicating a (mental) model? What is the relationship between the nature of the knowledge to be communicated and linguistic production? What is the relationship between representations and produced text? In what sense can interactive learning systems serve as mediators or as obstacles to these processes

Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

The positive side of a negative reference: the delay between linguistic processing and common ground

Interlocutors converge on names to refer to entities. For example, a speaker might refer to a novel looking object as the jellyfish and, once identified, the listener will too. The hypothesized mechanism behind such referential precedents is a subject of debate. The common ground view claims that listeners register the object as well as the identity of the speaker who coined the label. The linguistic view claims that, once established, precedents are treated by listeners like any other linguistic unit, i.e. without needing to keep track of the speaker. To test predictions from each account, we used visual-world eyetracking, which allows observations in real time, during a standard referential communication task. Participants had to select objects based on instructions from two speakers. In the critical condition, listeners sought an object with a negative reference such as not the jellyfish. We aimed to determine the extent to which listeners rely on the linguistic input, common ground or both. We found that initial interpretations were based on linguistic processing only and that common ground considerations do emerge but only after 1000 ms. Our findings support the idea that-at least temporally-linguistic processing can be isolated from common ground

The Nature and Value of Vagueness in the Law

Sample chapter from H. Asgeirsson, The Nature and Value of Vagueness in the Law (Hart Publishing, 2020), in which I present and partially defend a version of what has come to be called the communicative-content theory of law. Book abstract: Lawmaking is – paradigmatically – a type of speech act: people make law by saying things. It is natural to think, therefore, that the content of the law is determined by what lawmakers communicate. However, what they communicate is sometimes vague and, even when it is clear, the content itself is sometimes vague. The monograph examines the nature and consequences of these two linguistic sources of indeterminacy in the law with the aim of providing plausible answers to three related questions: In virtue of what is the law vague? What might be good about vague law? How should courts resolve cases of vagueness

Grounding System Adequacy of HV/MV Substations in Areas With Reduced Accessibility

The adequacy of grounding systems has to be verified periodically in the operational time. With urban development and buildings growth adjacent to power systems as HV/MV substations, it is very rare to have area around with sufficient accessibility for installing the potential and current electrodes. This paper discusses a safety criterion to verify the effectiveness of a grounding system. This criterion suggests conservative tests for both ground potential rise and touch voltages and step voltages that allow to verify the grounding systems effectiveness in areas with reduced accessibility and to monitor its evolution in the time

The adaptive advantage of symbolic theft over sensorimotor toil: Grounding language in perceptual categories

Using neural nets to simulate learning and the genetic algorithm to simulate evolution in a toy world of mushrooms and mushroom-foragers, we place two ways of acquiring categories into direct competition with one another: In (1) "sensorimotor toil,” new categories are acquired through real-time, feedback-corrected, trial and error experience in sorting them. In (2) "symbolic theft,” new categories are acquired by hearsay from propositions – boolean combinations of symbols describing them. In competition, symbolic theft always beats sensorimotor toil. We hypothesize that this is the basis of the adaptive advantage of language. Entry-level categories must still be learned by toil, however, to avoid an infinite regress (the “symbol grounding problem”). Changes in the internal representations of categories must take place during the course of learning by toil. These changes can be analyzed in terms of the compression of within-category similarities and the expansion of between-category differences. These allow regions of similarity space to be separated, bounded and named, and then the names can be combined and recombined to describe new categories, grounded recursively in the old ones. Such compression/expansion effects, called "categorical perception" (CP), have previously been reported with categories acquired by sensorimotor toil; we show that they can also arise from symbolic theft alone. The picture of natural language and its origins that emerges from this analysis is that of a powerful hybrid symbolic/sensorimotor capacity, infinitely superior to its purely sensorimotor precursors, but still grounded in and dependent on them. It can spare us from untold time and effort learning things the hard way, through direct experience, but it remain anchored in and translatable into the language of experience