Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Introduction: The Third International Conference on Epigenetic Robotics

This paper summarizes the paper and poster contributions to the Third International Workshop on Epigenetic Robotics. The focus of this workshop is on the cross-disciplinary interaction of developmental psychology and robotics. Namely, the general goal in this area is to create robotic models of the psychological development of various behaviors. The term "epigenetic" is used in much the same sense as the term "developmental" and while we could call our topic "developmental robotics", developmental robotics can be seen as having a broader interdisciplinary emphasis. Our focus in this workshop is on the interaction of developmental psychology and robotics and we use the phrase "epigenetic robotics" to capture this focus

Conjunctive Visual and Auditory Development via Real-Time Dialogue

Human developmental learning is capable of dealing with the dynamic visual world, speech-based dialogue, and their complex real-time association. However, the architecture that realizes this for robotic cognitive development has not been reported in the past. This paper takes up this challenge. The proposed architecture does not require a strict coupling between visual and auditory stimuli. Two major operations contribute to the “abstraction” process: multiscale temporal priming and high-dimensional numeric abstraction through internal responses with reduced variance. As a basic principle of developmental learning, the programmer does not know the nature of the world events at the time of programming and, thus, hand-designed task-specific representation is not possible. We successfully tested the architecture on the SAIL robot under an unprecedented challenging multimodal interaction mode: use real-time speech dialogue as a teaching source for simultaneous and incremental visual learning and language acquisition, while the robot is viewing a dynamic world that contains a rotating object to which the dialogue is referring

Texture analysis of aggressive and nonaggressive lung tumor CE CT images

This paper presents the potential for fractal analysis of time sequence contrast-enhanced (CE) computed tomography (CT) images to differentiate between aggressive and nonaggressive malignant lung tumors (i.e., high and low metabolic tumors). The aim is to enhance CT tumor staging prediction accuracy through identifying malignant aggressiveness of lung tumors. As branching of blood vessels can be considered a fractal process, the research examines vascularized tumor regions that exhibit strong fractal characteristics. The analysis is performed after injecting 15 patients with a contrast agent and transforming at least 11 time sequence CE CT images from each patient to the fractal dimension and determining corresponding lacunarity. The fractal texture features were averaged over the tumor region and quantitative classification showed up to 83.3% accuracy in distinction between advanced (aggressive) and early-stage (nonaggressive) malignant tumors. Also, it showed strong correlation with corresponding lung tumor stage and standardized tumor uptake value of fluoro deoxyglucose as determined by positron emission tomography. These results indicate that fractal analysis of time sequence CE CT images of malignant lung tumors could provide additional information about likely tumor aggression that could potentially impact on clinical management decisions in choosing the appropriate treatment procedure