In silico case studies of compliant robots: AMARSI deliverable 3.3

In the deliverable 3.2 we presented how the morphological computing ap- proach can significantly facilitate the control strategy in several scenarios, e.g. quadruped locomotion, bipedal locomotion and reaching. In particular, the Kitty experimental platform is an example of the use of morphological computation to allow quadruped locomotion. In this deliverable we continue with the simulation studies on the application of the different morphological computation strategies to control a robotic system

Modeling Target-Side Inflection in Neural Machine Translation

NMT systems have problems with large vocabulary sizes. Byte-pair encoding (BPE) is a popular approach to solving this problem, but while BPE allows the system to generate any target-side word, it does not enable effective generalization over the rich vocabulary in morphologically rich languages with strong inflectional phenomena. We introduce a simple approach to overcome this problem by training a system to produce the lemma of a word and its morphologically rich POS tag, which is then followed by a deterministic generation step. We apply this strategy for English-Czech and English-German translation scenarios, obtaining improvements in both settings. We furthermore show that the improvement is not due to only adding explicit morphological information.Comment: Accepted as a research paper at WMT17. (Updated version with corrected references.

SKOPE: A connectionist/symbolic architecture of spoken Korean processing

Spoken language processing requires speech and natural language integration. Moreover, spoken Korean calls for unique processing methodology due to its linguistic characteristics. This paper presents SKOPE, a connectionist/symbolic spoken Korean processing engine, which emphasizes that: 1) connectionist and symbolic techniques must be selectively applied according to their relative strength and weakness, and 2) the linguistic characteristics of Korean must be fully considered for phoneme recognition, speech and language integration, and morphological/syntactic processing. The design and implementation of SKOPE demonstrates how connectionist/symbolic hybrid architectures can be constructed for spoken agglutinative language processing. Also SKOPE presents many novel ideas for speech and language processing. The phoneme recognition, morphological analysis, and syntactic analysis experiments show that SKOPE is a viable approach for the spoken Korean processing.Comment: 8 pages, latex, use aaai.sty & aaai.bst, bibfile: nlpsp.bib, to be presented at IJCAI95 workshops on new approaches to learning for natural language processin

The zooarchaeological application of quantifying cranial shape differences in wild boar and domestic pigs (Sus scrofa) using 3D geometric morphometrics

Peer reviewedPublisher PD

Interoceptive robustness through environment-mediated morphological development

Typically, AI researchers and roboticists try to realize intelligent behavior in machines by tuning parameters of a predefined structure (body plan and/or neural network architecture) using evolutionary or learning algorithms. Another but not unrelated longstanding property of these systems is their brittleness to slight aberrations, as highlighted by the growing deep learning literature on adversarial examples. Here we show robustness can be achieved by evolving the geometry of soft robots, their control systems, and how their material properties develop in response to one particular interoceptive stimulus (engineering stress) during their lifetimes. By doing so we realized robots that were equally fit but more robust to extreme material defects (such as might occur during fabrication or by damage thereafter) than robots that did not develop during their lifetimes, or developed in response to a different interoceptive stimulus (pressure). This suggests that the interplay between changes in the containing systems of agents (body plan and/or neural architecture) at different temporal scales (evolutionary and developmental) along different modalities (geometry, material properties, synaptic weights) and in response to different signals (interoceptive and external perception) all dictate those agents' abilities to evolve or learn capable and robust strategies

Linguistic Interpretation of Mathematical Morphology

Mathematical Morphology is a theory based on geometry, algebra, topology and set theory, with strong application to digital image processing. This theory is characterized by two basic operators: dilation and erosion. In this work we redefine these operators based on compensatory fuzzy logic using a linguistic definition, compatible with previous definitions of Fuzzy Mathematical Morphology. A comparison to previous definitions is presented, assessing robustness against noise.Fil: Bouchet, Agustina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de Mar del Plata; ArgentinaFil: Meschino, Gustavo. Universidad Nacional de Mar del Plata; ArgentinaFil: Brun, Marcel. Universidad Nacional de Mar del Plata; ArgentinaFil: Espin Andrade, Rafael. Instituto Superior Politécnico José Antonio Echeverría Cujae; CubaFil: Ballarin, Virginia. Universidad Nacional de Mar del Plata; Argentin

Developing an embodied gait on a compliant quadrupedal robot

Incorporating the body dynamics of compliant robots into their controller architectures can drastically reduce the complexity of locomotion control. An extreme version of this embodied control principle was demonstrated in highly compliant tensegrity robots, for which stable gait generation was achieved by using only optimized linear feedback from the robot's sensors to its actuators. The morphology of quadrupedal robots has previously been used for sensing and for control of a compliant spine, but never for gait generation. In this paper, we successfully apply embodied control to the compliant, quadrupedal Oncilla robot. As initial experiments indicated that mere linear feedback does not suffice, we explore the minimal requirements for robust gait generation in terms of memory and nonlinear complexity. Our results show that a memory-less feedback controller can generate a stable trot by learning the desired nonlinear relation between the input and the output signals. We believe this method can provide a very useful tool for transferring knowledge from open loop to closed loop control on compliant robots

Modeling with the Crowd: Optimizing the Human-Machine Partnership with Zooniverse

LSST and Euclid must address the daunting challenge of analyzing the unprecedented volumes of imaging and spectroscopic data that these next-generation instruments will generate. A promising approach to overcoming this challenge involves rapid, automatic image processing using appropriately trained Deep Learning (DL) algorithms. However, reliable application of DL requires large, accurately labeled samples of training data. Galaxy Zoo Express (GZX) is a recent experiment that simulated using Bayesian inference to dynamically aggregate binary responses provided by citizen scientists via the Zooniverse crowd-sourcing platform in real time. The GZX approach enables collaboration between human and machine classifiers and provides rapidly generated, reliably labeled datasets, thereby enabling online training of accurate machine classifiers. We present selected results from GZX and show how the Bayesian aggregation engine it uses can be extended to efficiently provide object-localization and bounding-box annotations of two-dimensional data with quantified reliability. DL algorithms that are trained using these annotations will facilitate numerous panchromatic data modeling tasks including morphological classification and substructure detection in direct imaging, as well as decontamination and emission line identification for slitless spectroscopy. Effectively combining the speed of modern computational analyses with the human capacity to extrapolate from few examples will be critical if the potential of forthcoming large-scale surveys is to be realized.Comment: 5 pages, 1 figure. To appear in Proceedings of the International Astronomical Unio

Airborne LiDAR for DEM generation: some critical issues

Airborne LiDAR is one of the most effective and reliable means of terrain data collection. Using LiDAR data for DEM generation is becoming a standard practice in spatial related areas. However, the effective processing of the raw LiDAR data and the generation of an efficient and high-quality DEM remain big challenges. This paper reviews the recent advances of airborne LiDAR systems and the use of LiDAR data for DEM generation, with special focus on LiDAR data filters, interpolation methods, DEM resolution, and LiDAR data reduction. Separating LiDAR points into ground and non-ground is the most critical and difficult step for DEM generation from LiDAR data. Commonly used and most recently developed LiDAR filtering methods are presented. Interpolation methods and choices of suitable interpolator and DEM resolution for LiDAR DEM generation are discussed in detail. In order to reduce the data redundancy and increase the efficiency in terms of storage and manipulation, LiDAR data reduction is required in the process of DEM generation. Feature specific elements such as breaklines contribute significantly to DEM quality. Therefore, data reduction should be conducted in such a way that critical elements are kept while less important elements are removed. Given the highdensity characteristic of LiDAR data, breaklines can be directly extracted from LiDAR data. Extraction of breaklines and integration of the breaklines into DEM generation are presented