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

Unmanned Aerial Vehicles (UAVs) in environmental biology: A Review

Acquiring information about the environment is a key step during each study in the field of environmental biology at different levels, from an individual species to community and biome. However, obtaining information about the environment is frequently difficult because of, for example, the phenological timing, spatial distribution of a species or limited accessibility of a particular area for the field survey. Moreover, remote sensing technology, which enables the observation of the Earth’s surface and is currently very common in environmental research, has many limitations such as insufficient spatial, spectral and temporal resolution and a high cost of data acquisition. Since the 1990s, researchers have been exploring the potential of different types of unmanned aerial vehicles (UAVs) for monitoring Earth’s surface. The present study reviews recent scientific literature dealing with the use of UAV in environmental biology. Amongst numerous papers, short communications and conference abstracts, we selected 110 original studies of how UAVs can be used in environmental biology and which organisms can be studied in this manner. Most of these studies concerned the use of UAV to measure the vegetation parameters such as crown height, volume, number of individuals (14 studies) and quantification of the spatio-temporal dynamics of vegetation changes (12 studies). UAVs were also frequently applied to count birds and mammals, especially those living in the water. Generally, the analytical part of the present study was divided into following sections: (1) detecting, assessing and predicting threats on vegetation, (2) measuring the biophysical parameters of vegetation, (3) quantifying the dynamics of changes in plants and habitats and (4) population and behaviour studies of animals. At the end, we also synthesised all the information showing, amongst others, the advances in environmental biology because of UAV application. Considering that 33% of studies found and included in this review were published in 2017 and 2018, it is expected that the number and variety of applications of UAVs in environmental biology will increase in the future

Backwards is the way forward: feedback in the cortical hierarchy predicts the expected future

Clark offers a powerful description of the brain as a prediction machine, which offers progress on two distinct levels. First, on an abstract conceptual level, it provides a unifying framework for perception, action, and cognition (including subdivisions such as attention, expectation, and imagination). Second, hierarchical prediction offers progress on a concrete descriptive level for testing and constraining conceptual elements and mechanisms of predictive coding models (estimation of predictions, prediction errors, and internal models)

Sensorimotor representation learning for an "active self" in robots: A model survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyse what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration