Learning to Represent Haptic Feedback for Partially-Observable Tasks

The sense of touch, being the earliest sensory system to develop in a human body [1], plays a critical part of our daily interaction with the environment. In order to successfully complete a task, many manipulation interactions require incorporating haptic feedback. However, manually designing a feedback mechanism can be extremely challenging. In this work, we consider manipulation tasks that need to incorporate tactile sensor feedback in order to modify a provided nominal plan. To incorporate partial observation, we present a new framework that models the task as a partially observable Markov decision process (POMDP) and learns an appropriate representation of haptic feedback which can serve as the state for a POMDP model. The model, that is parametrized by deep recurrent neural networks, utilizes variational Bayes methods to optimize the approximate posterior. Finally, we build on deep Q-learning to be able to select the optimal action in each state without access to a simulator. We test our model on a PR2 robot for multiple tasks of turning a knob until it clicks.Comment: IEEE International Conference on Robotics and Automation (ICRA), 201

Learning and Using Context on a Humanoid Robot Using Latent Dirichlet Allocation

2014 Joint IEEE International Conferences on Development and Learning and Epigenetic Robotics (ICDL-Epirob), Genoa, Italy, 13-16 October 2014In this work, we model context in terms of a set of concepts grounded in a robot's sensorimotor interactions with the environment. For this end, we treat context as a latent variable in Latent Dirichlet Allocation, which is widely used in computational linguistics for modeling topics in texts. The flexibility of our approach allows many-to-many relationships between objects and contexts, as well as between scenes and contexts. We use a concept web representation of the perceptions of the robot as a basis for context analysis. The detected contexts of the scene can be used for several cognitive problems. Our results demonstrate that the robot can use learned contexts to improve object recognition and planning.Scientific and Technological Research Council of Turkey (TUBiTAK

Tune in to your emotions: a robust personalized affective music player

The emotional power of music is exploited in a personalized affective music player (AMP) that selects music for mood enhancement. A biosignal approach is used to measure listeners’ personal emotional reactions to their own music as input for affective user models. Regression and kernel density estimation are applied to model the physiological changes the music elicits. Using these models, personalized music selections based on an affective goal state can be made. The AMP was validated in real-world trials over the course of several weeks. Results show that our models can cope with noisy situations and handle large inter-individual differences in the music domain. The AMP augments music listening where its techniques enable automated affect guidance. Our approach provides valuable insights for affective computing and user modeling, for which the AMP is a suitable carrier application

Dutch modality exclusivity norms for 336 properties and 411 concepts

Part of the toolkit of language researchers is formed of stimuli that have been rated on various dimensions. The current study presents modality exclusivity norms for 336 properties and 411 concepts in Dutch. Forty-two respondents rated the auditory, haptic, and visual strength of these words. Mean scores were then computed, yielding acceptable reliability values. Measures of modality exclusivity and perceptual strength were also computed. Furthermore, the data includes psycholinguistic variables from other corpora, covering length (e.g., number of phonemes), frequency (e.g., contextual diversity), and distinctiveness (e.g., number of orthographic neighbours), along with concreteness and age of acquisition. To test these norms, Lynott and Connell’s (2009, 2013) analyses were replicated. First, unimodal, bimodal, and tri-modal words were found. Vision was the most prevalent modality. Vision and touch were relatively related, leaving a more independent auditory modality. Properties were more strongly perceptual than concepts. Last, sound symbolism was investigated using regression, which revealed that auditory strength predicted lexical properties of the words better than the other modalities did, or else with a different direction. All the data and analysis code, including a web application, are available from https://osf.io/brkjw/

The Stylometric Processing of Sensory Open Source Data

This research project’s end goal is on the Lone Wolf Terrorist. The project uses an exploratory approach to the self-radicalisation problem by creating a stylistic fingerprint of a person's personality, or self, from subtle characteristics hidden in a person's writing style. It separates the identity of one person from another based on their writing style. It also separates the writings of suicide attackers from ‘normal' bloggers by critical slowing down; a dynamical property used to develop early warning signs of tipping points. It identifies changes in a person's moods, or shifts from one state to another, that might indicate a tipping point for self-radicalisation. Research into authorship identity using personality is a relatively new area in the field of neurolinguistics. There are very few methods that model how an individual's cognitive functions present themselves in writing. Here, we develop a novel algorithm, RPAS, which draws on cognitive functions such as aging, sensory processing, abstract or concrete thinking through referential activity emotional experiences, and a person's internal gender for identity. We use well-known techniques such as Principal Component Analysis, Linear Discriminant Analysis, and the Vector Space Method to cluster multiple anonymous-authored works. Here we use a new approach, using seriation with noise to separate subtle features in individuals. We conduct time series analysis using modified variants of 1-lag autocorrelation and the coefficient of skewness, two statistical metrics that change near a tipping point, to track serious life events in an individual through cognitive linguistic markers. In our journey of discovery, we uncover secrets about the Elizabethan playwrights hidden for over 400 years. We uncover markers for depression and anxiety in modern-day writers and identify linguistic cues for Alzheimer's disease much earlier than other studies using sensory processing. In using these techniques on the Lone Wolf, we can separate their writing style used before their attacks that differs from other writing

Does a presentation Media Influence the Evaluation of Consumer Products? A Comparative Study to Evaluate Virtual Reality, Virtual Reality with Passive Haptics and a Real Setting

Technologies based on image offer a high potential to present consumers with products by focusing on their visual characteristics, but lack the capacity to physically interact with an object, which can compromise how consumer products are evaluated. The present study aims to analyse the influence of different presentation media on how users perceive the product by comparing the evaluation of a piece of furniture made by a sample of 203 users, which was presented in three different settings: a real setting (R), a Virtual Reality setting (VR) and a Virtual Reality with Passive Haptics setting (VRPH). To evaluate the product in the different settings, a semantic differential scale was built that comprised 12 bipolar pairs of adjectives. To study the results, the descriptive statistics for the semantic differential scales were analysed, a study about the frequency of repetition was conducted of each evaluation, a Kruskal-Wallis test was conducted and Dunn’s post hoc tests were performed. The results showed that the presentation media of a piece of furniture influenced the evaluation of how users perceived it. These results also revealed that the haptic interaction with a product influenced how users perceived it compared to an exclusively visual interaction

Learning Context on a Humanoid Robot using Incremental Latent Dirichlet Allocation

In this article, we formalize and model context in terms of a set of concepts grounded in the sensorimotor interactions of a robot. The concepts are modeled as a web using Markov Random Field, inspired from the concept web hypothesis for representing concepts in humans. On this concept web, we treat context as a latent variable of Latent Dirichlet Allocation (LDA), which is a widely-used method in computational linguistics for modeling topics in texts. We extend the standard LDA method in order to make it incremental so that (i) it does not re-learn everything from scratch given new interactions (i.e., it is online) and (ii) it can discover and add a new context into its model when necessary. We demonstrate on the iCub platform that, partly owing to modeling context on top of the concept web, our approach is adaptive, online and robust: It is adaptive and online since it can learn and discover a new context from new interactions. It is robust since it is not affected by irrelevant stimuli and it can discover contexts after a few interactions only. Moreover, we show how to use the context learned in such a model for two important tasks: object recognition and planning.Scientific and Technological Research Council of TurkeyMarie Curie International Outgoing Fellowship titled “Towards Better Robot Manipulation: Improvement through Interaction

Making Tactile Textures with Predefined Affective Properties

A process for the design and manufacture of 3D tactile textures with predefined affective properties was developed. Twenty four tactile textures were manufactured. Texture measures from the domain of machine vision were used to characterize the digital representations of the tactile textures. To obtain affective ratings, the textures were touched, unseen, by 107 participants who scored them against natural, warm, elegant, rough, simple, and like, on a semantic differential scale. The texture measures were correlated with the participants' affective ratings using a novel feature subset evaluation method and a partial least squares genetic algorithm. Six measures were identified that are significantly correlated with human responses and are unlikely to have occurred by chance. Regression equations were used to select 48 new tactile textures that had been synthesized using mixing algorithms and which were likely to score highly against the six adjectives when touched by participants. The new textures were manufactured and rated by participants. It was found that the regression equations gave excellent predictive ability. The principal contribution of the work is the demonstration of a process, using machine vision methods and rapid prototyping, which can be used to make new tactile textures with predefined affective properties

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications