James J. Kaput (1942–2005) imagineer and futurologist of mathematics education

Jim Kaput lived a full life in mathematics education and we have many reasons to be grateful to him, not only for his vision of the use of technology in mathematics, but also for his fundamental humanity. This paper considers the origins of his ‘big ideas’ as he lived through the most amazing innovations in technology that have changed our lives more in a generation than in many centuries before. His vision continues as is exemplified by the collected papers in this tribute to his life and work

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Semantic Graph for Zero-Shot Learning

Zero-shot learning aims to classify visual objects without any training data via knowledge transfer between seen and unseen classes. This is typically achieved by exploring a semantic embedding space where the seen and unseen classes can be related. Previous works differ in what embedding space is used and how different classes and a test image can be related. In this paper, we utilize the annotation-free semantic word space for the former and focus on solving the latter issue of modeling relatedness. Specifically, in contrast to previous work which ignores the semantic relationships between seen classes and focus merely on those between seen and unseen classes, in this paper a novel approach based on a semantic graph is proposed to represent the relationships between all the seen and unseen class in a semantic word space. Based on this semantic graph, we design a special absorbing Markov chain process, in which each unseen class is viewed as an absorbing state. After incorporating one test image into the semantic graph, the absorbing probabilities from the test data to each unseen class can be effectively computed; and zero-shot classification can be achieved by finding the class label with the highest absorbing probability. The proposed model has a closed-form solution which is linear with respect to the number of test images. We demonstrate the effectiveness and computational efficiency of the proposed method over the state-of-the-arts on the AwA (animals with attributes) dataset.Comment: 9 pages, 5 figure

Identification of Invariant Sensorimotor Structures as a Prerequisite for the Discovery of Objects

Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of spatio-temporally invariant structures in the sensorimotor experience of an agent. We take inspiration from the Sensorimotor Contingencies Theory to define a computational model of this mechanism through a sensorimotor, unsupervised and predictive approach. Our model is based on processing the unsupervised interaction of an artificial agent with its environment. We show how spatio-temporally invariant structures in the environment induce regularities in the sensorimotor experience of an agent, and how this agent, while building a predictive model of its sensorimotor experience, can capture them as densely connected subgraphs in a graph of sensory states connected by motor commands. Our approach is focused on elementary mechanisms, and is illustrated with a set of simple experiments in which an agent interacts with an environment. We show how the agent can build an internal model of moving but spatio-temporally invariant structures by performing a Spectral Clustering of the graph modeling its overall sensorimotor experiences. We systematically examine properties of the model, shedding light more globally on the specificities of the paradigm with respect to methods based on the supervised processing of collections of static images.Comment: 24 pages, 10 figures, published in Frontiers Robotics and A

Image recognition with an adiabatic quantum computer I. Mapping to quadratic unconstrained binary optimization

Many artificial intelligence (AI) problems naturally map to NP-hard optimization problems. This has the interesting consequence that enabling human-level capability in machines often requires systems that can handle formally intractable problems. This issue can sometimes (but possibly not always) be resolved by building special-purpose heuristic algorithms, tailored to the problem in question. Because of the continued difficulties in automating certain tasks that are natural for humans, there remains a strong motivation for AI researchers to investigate and apply new algorithms and techniques to hard AI problems. Recently a novel class of relevant algorithms that require quantum mechanical hardware have been proposed. These algorithms, referred to as quantum adiabatic algorithms, represent a new approach to designing both complete and heuristic solvers for NP-hard optimization problems. In this work we describe how to formulate image recognition, which is a canonical NP-hard AI problem, as a Quadratic Unconstrained Binary Optimization (QUBO) problem. The QUBO format corresponds to the input format required for D-Wave superconducting adiabatic quantum computing (AQC) processors.Comment: 7 pages, 3 figure