Human spontaneous gaze patterns in viewing of faces of different species

Human studies have reported clear differences in perceptual and neural processing of faces of different species, implying the contribution of visual experience to face perception. Can these differences be manifested in our eye scanning patterns while extracting salient facial information? Here we systematically compared non-pet owners’ gaze patterns while exploring human, monkey, dog and cat faces in a passive viewing task. Our analysis revealed that the faces of different species induced similar patterns of fixation distribution between left and right hemi-face, and among key local facial features with the eyes attracting the highest proportion of fixations and viewing times, followed by the nose and then the mouth. Only the proportion of fixation directed at the mouth region was species-dependent and could be differentiated at the earliest stage of face viewing. It seems that our spontaneous eye scanning patterns associated with face exploration were mainly constrained by general facial configurations; the species affiliation of the inspected faces had limited impact on gaze allocation, at least under free viewing conditions

Improving grasping forces during the manipulation of unknown objects

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksMany of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate an unknown object based only on tactile and kinematic information. The tactile and kinematic data obtained during the manipulation is used to recognize the object shape (at least the local object curvature), allowing to improve the grasping forces when this information is added to the manipulation strategy. The approach has been fully implemented and tested using the Schunk Dexterous Hand (SDH2). Experimental results are shown to illustrate the efficiency of the approach.Peer ReviewedPostprint (author's final draft

Learning and Acting in Peripersonal Space: Moving, Reaching, and Grasping

The young infant explores its body, its sensorimotor system, and the immediately accessible parts of its environment, over the course of a few months creating a model of peripersonal space useful for reaching and grasping objects around it. Drawing on constraints from the empirical literature on infant behavior, we present a preliminary computational model of this learning process, implemented and evaluated on a physical robot. The learning agent explores the relationship between the configuration space of the arm, sensing joint angles through proprioception, and its visual perceptions of the hand and grippers. The resulting knowledge is represented as the peripersonal space (PPS) graph, where nodes represent states of the arm, edges represent safe movements, and paths represent safe trajectories from one pose to another. In our model, the learning process is driven by intrinsic motivation. When repeatedly performing an action, the agent learns the typical result, but also detects unusual outcomes, and is motivated to learn how to make those unusual results reliable. Arm motions typically leave the static background unchanged, but occasionally bump an object, changing its static position. The reach action is learned as a reliable way to bump and move an object in the environment. Similarly, once a reliable reach action is learned, it typically makes a quasi-static change in the environment, moving an object from one static position to another. The unusual outcome is that the object is accidentally grasped (thanks to the innate Palmar reflex), and thereafter moves dynamically with the hand. Learning to make grasps reliable is more complex than for reaches, but we demonstrate significant progress. Our current results are steps toward autonomous sensorimotor learning of motion, reaching, and grasping in peripersonal space, based on unguided exploration and intrinsic motivation.Comment: 35 pages, 13 figure

Providing Transaction Class-Based QoS in In-Memory Data Grids via Machine Learning

Elastic architectures and the ”pay-as-you-go” resource pricing model offered by many cloud infrastructure providers may seem the right choice for companies dealing with data centric applications characterized by high variable workload. In such a context, in-memory transactional data grids have demonstrated to be particularly suited for exploiting advantages provided by elastic computing platforms, mainly thanks to their ability to be dynamically (re-)sized and tuned. Anyway, when specific QoS requirements have to be met, this kind of architectures have revealed to be complex to be managed by humans. Particularly, their management is a very complex task without the stand of mechanisms supporting run-time automatic sizing/tuning of the data platform and the underlying (virtual) hardware resources provided by the cloud. In this paper, we present a neural network-based architecture where the system is constantly and automatically re-configured, particularly in terms of computing resources