Robot Composite Learning and the Nunchaku Flipping Challenge

Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this paper, we present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the "nunchaku flipping challenge", an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge

Performance Boundary Identification for the Evaluation of Automated Vehicles using Gaussian Process Classification

Safety is an essential aspect in the facilitation of automated vehicle deployment. Current testing practices are not enough, and going beyond them leads to infeasible testing requirements, such as needing to drive billions of kilometres on public roads. Automated vehicles are exposed to an indefinite number of scenarios. Handling of the most challenging scenarios should be tested, which leads to the question of how such corner cases can be determined. We propose an approach to identify the performance boundary, where these corner cases are located, using Gaussian Process Classification. We also demonstrate the classification on an exemplary traffic jam approach scenario, showing that it is feasible and would lead to more efficient testing practices.Comment: 6 pages, 5 figures, accepted at 2019 IEEE Intelligent Transportation Systems Conference - ITSC 2019, Auckland, New Zealand, October 201

A Novel Apex-Time Network for Cross-Dataset Micro-Expression Recognition

The automatic recognition of micro-expression has been boosted ever since the successful introduction of deep learning approaches. As researchers working on such topics are moving to learn from the nature of micro-expression, the practice of using deep learning techniques has evolved from processing the entire video clip of micro-expression to the recognition on apex frame. Using the apex frame is able to get rid of redundant video frames, but the relevant temporal evidence of micro-expression would be thereby left out. This paper proposes a novel Apex-Time Network (ATNet) to recognize micro-expression based on spatial information from the apex frame as well as on temporal information from the respective-adjacent frames. Through extensive experiments on three benchmarks, we demonstrate the improvement achieved by learning such temporal information. Specially, the model with such temporal information is more robust in cross-dataset validations.Comment: 6 pages, 3 figures, 3 tables, code available, accepted in ACII 201

The future of technology enhanced active learning – a roadmap

The notion of active learning refers to the active involvement of learner in the learning process, capturing ideas of learning-by-doing and the fact that active participation and knowledge construction leads to deeper and more sustained learning. Interactivity, in particular learnercontent interaction, is a central aspect of technology-enhanced active learning. In this roadmap, the pedagogical background is discussed, the essential dimensions of technology-enhanced active learning systems are outlined and the factors that are expected to influence these systems currently and in the future are identified. A central aim is to address this promising field from a best practices perspective, clarifying central issues and formulating an agenda for future developments in the form of a roadmap

Combining Stream Mining and Neural Networks for Short Term Delay Prediction

The systems monitoring the location of public transport vehicles rely on wireless transmission. The location readings from GPS-based devices are received with some latency caused by periodical data transmission and temporal problems preventing data transmission. This negatively affects identification of delayed vehicles. The primary objective of the work is to propose short term hybrid delay prediction method. The method relies on adaptive selection of Hoeffding trees, being stream classification technique and multilayer perceptrons. In this way, the hybrid method proposed in this study provides anytime predictions and eliminates the need to collect extensive training data before any predictions can be made. Moreover, the use of neural networks increases the accuracy of the predictions compared with the use of Hoeffding trees only

Authorship attribution in portuguese using character N-grams

For the Authorship Attribution (AA) task, character n-grams are considered among the best predictive features. In the English language, it has also been shown that some types of character n-grams perform better than others. This paper tackles the AA task in Portuguese by examining the performance of different types of character n-grams, and various combinations of them. The paper also experiments with different feature representations and machine-learning algorithms. Moreover, the paper demonstrates that the performance of the character n-gram approach can be improved by fine-tuning the feature set and by appropriately selecting the length and type of character n-grams. This relatively simple and language-independent approach to the AA task outperforms both a bag-of-words baseline and other approaches, using the same corpus.Mexican Government (Conacyt) [240844, 20161958]; Mexican Government (SIP-IPN) [20171813, 20171344, 20172008]; Mexican Government (SNI); Mexican Government (COFAA-IPN)

Data-driven design of intelligent wireless networks: an overview and tutorial

Data science or "data-driven research" is a research approach that uses real-life data to gain insight about the behavior of systems. It enables the analysis of small, simple as well as large and more complex systems in order to assess whether they function according to the intended design and as seen in simulation. Data science approaches have been successfully applied to analyze networked interactions in several research areas such as large-scale social networks, advanced business and healthcare processes. Wireless networks can exhibit unpredictable interactions between algorithms from multiple protocol layers, interactions between multiple devices, and hardware specific influences. These interactions can lead to a difference between real-world functioning and design time functioning. Data science methods can help to detect the actual behavior and possibly help to correct it. Data science is increasingly used in wireless research. To support data-driven research in wireless networks, this paper illustrates the step-by-step methodology that has to be applied to extract knowledge from raw data traces. To this end, the paper (i) clarifies when, why and how to use data science in wireless network research; (ii) provides a generic framework for applying data science in wireless networks; (iii) gives an overview of existing research papers that utilized data science approaches in wireless networks; (iv) illustrates the overall knowledge discovery process through an extensive example in which device types are identified based on their traffic patterns; (v) provides the reader the necessary datasets and scripts to go through the tutorial steps themselves