39,548 research outputs found
Robotic ubiquitous cognitive ecology for smart homes
Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work
The structure and formation of natural categories
Categorization and concept formation are critical activities of intelligence. These processes and the conceptual structures that support them raise important issues at the interface of cognitive psychology and artificial intelligence. The work presumes that advances in these and other areas are best facilitated by research methodologies that reward interdisciplinary interaction. In particular, a computational model is described of concept formation and categorization that exploits a rational analysis of basic level effects by Gluck and Corter. Their work provides a clean prescription of human category preferences that is adapted to the task of concept learning. Also, their analysis was extended to account for typicality and fan effects, and speculate on how the concept formation strategies might be extended to other facets of intelligence, such as problem solving
(Not)Hanging on the Telephone: Payment systems in the New Sweatshops
'The ultimate objective of empirical work on incentives should be to find out why firms use the compensation systems they doàhuge advances in our understanding could be made by a concerted effort to collect data on contracts.' So concludes the 1998 Journal of Economic Literature survey on compensation systems. This paper does just that. It presents very detailed case study evidence on contracts in four organizations, three of which are call centres, the fastest growing sector of employment in the UK. This evidence is used to test predictions from the New Economics of Personnel (NEP) concerning the incidence of payment systems. We also contrast and test predictions from NEP with those of the earlier British Institutional School, which anticipated many of NEP's ideas on payment systems. Variations in the ratio of performance-related to basic pay among our organizations can, broadly, be explained by the costs and benefits of monitoring inputs and measuring output, which comprises the core of NEP. Indeed, the monitoring of our case study employees is the theme which binds the paper together û for call centres Jeremy Bentham's 1791 Panopticon was truly the vision of the future.
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Models of incremental concept formation
Given a set of observations, humans acquire concepts that organize those observations and use them in classifying future experiences. This type of concept formation can occur in the absence of a tutor and it can take place despite irrelevant and incomplete information. A reasonable model of such human concept learning should be both incremental and capable of handling this type of complex experiences that people encounter in the real world. In this paper, we review three previous models of incremental concept formation and then present CLASSIT, a model that extends these earlier systems. All of the models integrate the process of recognition and learning, and all can be viewed as carrying out search through the space of possible concept hierarchies. In an attempt to show that CLASSIT is a robust concept formation system, we also present some empirical studies of its behavior under a variety of conditions
The ABACOC Algorithm: a Novel Approach for Nonparametric Classification of Data Streams
Stream mining poses unique challenges to machine learning: predictive models
are required to be scalable, incrementally trainable, must remain bounded in
size (even when the data stream is arbitrarily long), and be nonparametric in
order to achieve high accuracy even in complex and dynamic environments.
Moreover, the learning system must be parameterless ---traditional tuning
methods are problematic in streaming settings--- and avoid requiring prior
knowledge of the number of distinct class labels occurring in the stream. In
this paper, we introduce a new algorithmic approach for nonparametric learning
in data streams. Our approach addresses all above mentioned challenges by
learning a model that covers the input space using simple local classifiers.
The distribution of these classifiers dynamically adapts to the local (unknown)
complexity of the classification problem, thus achieving a good balance between
model complexity and predictive accuracy. We design four variants of our
approach of increasing adaptivity. By means of an extensive empirical
evaluation against standard nonparametric baselines, we show state-of-the-art
results in terms of accuracy versus model size. For the variant that imposes a
strict bound on the model size, we show better performance against all other
methods measured at the same model size value. Our empirical analysis is
complemented by a theoretical performance guarantee which does not rely on any
stochastic assumption on the source generating the stream
Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy
With the advent of agriculture 3.0 and 4.0, researchers are increasingly
focusing on the development of innovative smart farming and precision
agriculture technologies by introducing automation and robotics into the
agricultural processes. Autonomous agricultural field machines have been
gaining significant attention from farmers and industries to reduce costs,
human workload, and required resources. Nevertheless, achieving sufficient
autonomous navigation capabilities requires the simultaneous cooperation of
different processes; localization, mapping, and path planning are just some of
the steps that aim at providing to the machine the right set of skills to
operate in semi-structured and unstructured environments. In this context, this
study presents a low-cost local motion planner for autonomous navigation in
vineyards based only on an RGB-D camera, low range hardware, and a dual layer
control algorithm. The first algorithm exploits the disparity map and its depth
representation to generate a proportional control for the robotic platform.
Concurrently, a second back-up algorithm, based on representations learning and
resilient to illumination variations, can take control of the machine in case
of a momentaneous failure of the first block. Moreover, due to the double
nature of the system, after initial training of the deep learning model with an
initial dataset, the strict synergy between the two algorithms opens the
possibility of exploiting new automatically labeled data, coming from the
field, to extend the existing model knowledge. The machine learning algorithm
has been trained and tested, using transfer learning, with acquired images
during different field surveys in the North region of Italy and then optimized
for on-device inference with model pruning and quantization. Finally, the
overall system has been validated with a customized robot platform in the
relevant environment
Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces
To enable safe and efficient human-robot collaboration in shared workspaces
it is important for the robot to predict how a human will move when performing
a task. While predicting human motion for tasks not known a priori is very
challenging, we argue that single-arm reaching motions for known tasks in
collaborative settings (which are especially relevant for manufacturing) are
indeed predictable. Two hypotheses underlie our approach for predicting such
motions: First, that the trajectory the human performs is optimal with respect
to an unknown cost function, and second, that human adaptation to their
partner's motion can be captured well through iterative re-planning with the
above cost function. The key to our approach is thus to learn a cost function
which "explains" the motion of the human. To do this, we gather example
trajectories from pairs of participants performing a collaborative assembly
task using motion capture. We then use Inverse Optimal Control to learn a cost
function from these trajectories. Finally, we predict reaching motions from the
human's current configuration to a task-space goal region by iteratively
re-planning a trajectory using the learned cost function. Our planning
algorithm is based on the trajectory optimizer STOMP, it plans for a 23 DoF
human kinematic model and accounts for the presence of a moving collaborator
and obstacles in the environment. Our results suggest that in most cases, our
method outperforms baseline methods when predicting motions. We also show that
our method outperforms baselines for predicting human motion when a human and a
robot share the workspace.Comment: 12 pages, Accepted for publication IEEE Transaction on Robotics 201
Integrating Symbolic and Neural Processing in a Self-Organizing Architechture for Pattern Recognition and Prediction
British Petroleum (89A-1204); Defense Advanced Research Projects Agency (N00014-92-J-4015); National Science Foundation (IRI-90-00530); Office of Naval Research (N00014-91-J-4100); Air Force Office of Scientific Research (F49620-92-J-0225
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