Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Early Years Developmental Journal

The Early Years Developmental Journal is based on extensive analysis of a wide range of developmental assessment tools. It is a resource for families and practitioners working closely with them to record a child’s developments to better aid the identification of areas where additional help may be required. It is designed to support key working and foster communication between all those involved in a child’s development. While its primary use is for families, it is also intended that the Journal will be a useful resource for the 24-30 month statutory EYFS progress assessment as well as supporting child health monitoring

The joint role of trained, untrained, and observed actions at the origins of goal recognition

Recent findings across a variety of domains reveal the benefits of self-produced experience on object exploration, object knowledge, attention, and action perception. The influence of active experience may be particularly important in infancy, when motor development is undergoing great changes. Despite the importance of self-produced experience, we know that infants and young children are eventually able to gain knowledge through purely observational experience. In the current work, three-month-old infants were given experience with object-directed actions in one of three forms and their recognition of the goal of grasping actions was then assessed in a habituation paradigm. All infants were given the chance to manually interact with the toys without assistance (a difficult task for most three-month-olds). Two of the three groups were then given additional experience with object-directed actions, either through active training (in which Velcro mittens helped infants act more efficiently) or observational training. Findings support the conclusion that self-produced experience is uniquely informative for action perception and suggest that individual differences in spontaneous motor activity may interact with observational experience to inform action perception early in life.PostprintPeer reviewe

Introducing Java : the case for fundamentals-first

Java has increasingly become the language of choice for teaching introductory programming. In this paper, we examine the different approaches to teaching Java (Objects-first, Fundamentals-first and GUI-first) to ascertain whether there exists an agreed ordering of topics and difficulty levels between nine relatively basic Java topics. The results of our literature survey and student questionnaire suggests that the Fundamentals-first approach may have benefits from the student's point of view and an agreed ordering of the Java topics accompanying this approach has been established