294 research outputs found

    The Social Cognitive Actor

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    Multi-Agent Simulation (MAS) of organisations is a methodology that is adopted in this dissertation in order to study and understand human behaviour in organisations. The aim of the research is to design and implementat a cognitive and social multi-agent simulation model based on a selection of social and cognitive theories to fulfill the need for a complex cognitive and social model. The emphasis of this dissertation is the relationship between behaviour of individuals (micro-level) in an organisation and the behaviour of the organisation as a whole (macro-level)

    Neural Network Based Reinforcement Learning for Audio-Visual Gaze Control in Human-Robot Interaction

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    This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of external sensors nor with human supervision. The robot learns to focus its attention onto groups of people from its own audio-visual experiences, independently of the number of people, of their positions and of their physical appearances. In particular, we use a recurrent neural network architecture in combination with Q-learning to find an optimal action-selection policy; we pre-train the network using a simulated environment that mimics realistic scenarios that involve speaking/silent participants, thus avoiding the need of tedious sessions of a robot interacting with people. Our experimental evaluation suggests that the proposed method is robust against parameter estimation, i.e. the parameter values yielded by the method do not have a decisive impact on the performance. The best results are obtained when both audio and visual information is jointly used. Experiments with the Nao robot indicate that our framework is a step forward towards the autonomous learning of socially acceptable gaze behavior.Comment: Paper submitted to Pattern Recognition Letter

    Computational and Psycho-Physiological Investigations of Musical Emotions

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    The ability of music to stir human emotions is a well known fact (Gabrielsson & Lindstrom. 2001). However, the manner in which music contributes to those experiences remains obscured. One of the main reasons is the large number of syndromes that characterise emotional experiences. Another is their subjective nature: musical emotions can be affected by memories, individual preferences and attitudes, among other factors (Scherer & Zentner, 2001). But can the same music induce similar affective experiences in all listeners, somehow independently of acculturation or personal bias? A considerable corpus of literature has consistently reported that listeners agree rather strongly about what type of emotion is expressed in a particular piece or even in particular moments or sections (Juslin & Sloboda, 2001). Those studies suggest that music features encode important characteristics of affective experiences, by suggesting the influence of various structural factors of music on emotional expression. Unfortunately, the nature of these relationships is complex, and it is common to find rather vague and contradictory descriptions. This thesis presents a novel methodology to analyse the dynamics of emotional responses to music. It consists of a computational investigation, based on spatiotemporal neural networks sensitive to structural aspects of music, which "mimic" human affective responses to music and permit to predict new ones. The dynamics of emotional responses to music are investigated as computational representations of perceptual processes (psychoacoustic features) and self-perception of physiological activation (peripheral feedback). Modelling and experimental results provide evidence suggesting that spatiotemporal patterns of sound resonate with affective features underlying judgements of subjective feelings. A significant part of the listener's affective response is predicted from the a set of six psychoacoustic features of sound - tempo, loudness, multiplicity (texture), power spectrum centroid (mean pitch), sharpness (timbre) and mean STFT flux (pitch variation) - and one physiological variable - heart rate. This work contributes to new evidence and insights to the study of musical emotions, with particular relevance to the music perception and emotion research communities

    Drama, a connectionist model for robot learning: experiments on grounding communication through imitation in autonomous robots

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    The present dissertation addresses problems related to robot learning from demonstraÂŹ tion. It presents the building of a connectionist architecture, which provides the robot with the necessary cognitive and behavioural mechanisms for learning a synthetic lanÂŹ guage taught by an external teacher agent. This thesis considers three main issues: 1) learning of spatio-temporal invariance in a dynamic noisy environment, 2) symbol grounding of a robot's actions and perceptions, 3) development of a common symbolic representation of the world by heterogeneous agents.We build our approach on the assumption that grounding of symbolic communication creates constraints not only on the cognitive capabilities of the agent but also and especially on its behavioural capacities. Behavioural skills, such as imitation, which allow the agent to co-ordinate its actionn to that of the teacher agent, are required aside to general cognitive abilities of associativity, in order to constrain the agent's attention to making relevant perceptions, onto which it grounds the teacher agent's symbolic expression. In addition, the agent should be provided with the cognitive capacity for extracting spatial and temporal invariance in the continuous flow of its perceptions. Based on this requirement, we develop a connectionist architecture for learning time series. The model is a Dynamical Recurrent Associative Memory Architecture, called DRAMA. It is a fully connected recurrent neural network using Hebbian update rules. Learning is dynamic and unsupervised. The performance of the architecture is analysed theoretically, through numerical simulations and through physical and simulated robotic experiments. Training of the network is computationally fast and inexpensive, which allows its implementation for real time computation and on-line learning in a inexpensive hardware system. Robotic experiments are carried out with different learning tasks involving recognition of spatial and temporal invariance, namely landmark recognition and prediction of perception-action sequence in maze travelling.The architecture is applied to experiments on robot learning by imitation. A learner robot is taught by a teacher agent, a human instructor and another robot, a vocabulary to describe its perceptions and actions. The experiments are based on an imitative strategy, whereby the learner robot reproduces the teacher's actions. While imitating the teacher's movements, the learner robot makes similar proprio and exteroceptions to those of the teacher. The learner robot grounds the teacher's words onto the set of common perceptions they share. We carry out experiments in simulated and physical environments, using different robotic set-ups, increasing gradually the complexity of the task. In a first set of experiments, we study transmission of a vocabulary to designate actions and perception of a robot. Further, we carry out simulation studies, in which we investigate transmission and use of the vocabulary among a group of robotic agents. In a third set of experiments, we investigate learning sequences of the robot's perceptions, while wandering in a physically constrained environment. Finally, we present the implementation of DRAMA in Robota, a doll-like robot, which can imitate the arms and head movements of a human instructor. Through this imitative game, Robota is taught to perform and label dance patterns. Further, Robota is taught a basic language, including a lexicon and syntactical rules for the combination of words of the lexicon, to describe its actions and perception of touch onto its body

    What Is Cognitive Psychology?

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    What Is Cognitive Psychology? identifies the theoretical foundations of cognitive psychology—foundations which have received very little attention in modern textbooks. Beginning with the basics of information processing, Michael R. W. Dawson explores what experimental psychologists infer about these processes and considers what scientific explanations are required when we assume cognition is rule-governed symbol manipulation. From these foundations, psychologists can identify the architecture of cognition and better understand its role in debates about its true nature. This volume offers a deeper understanding of cognitive psychology and presents ideas for integrating traditional cognitive psychology with more modern fields like cognitive neuroscience.Publishe

    The 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies

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    This publication comprises the papers presented at the 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland, on May 9-11, 1995. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed

    Imitation and social learning for synthetic characters

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    Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2004.Includes bibliographical references (p. 137-149).We want to build animated characters and robots capable of rich social interactions with humans and each other, and who are able to learn by observing those around them. An increasing amount of evidence suggests that, in human infants, the ability to learn by watching others, and in particular, the ability to imitate, could be crucial precursors to the development of appropriate social behavior, and ultimately the ability to reason about the thoughts, intents, beliefs, and desires of others. We have created a number of imitative characters and robots, the latest of which is Max T. Mouse, an anthropomorphic animated mouse character who is able to observe the actions he sees his friend Morris Mouse performing, and compare them to the actions he knows how to perform himself. This matching process allows Max to accurately imitate Morris's gestures and actions, even when provided with limited synthetic visual input. Furthermore, by using his own perception, motor, and action systems as models for the behavioral and perceptual capabilities of others (a process known as Simulation Theory in the cognitive literature), Max can begin to identify simple goals and motivations for Morris's behavior, an important step towards developing characters with a full theory of mind. Finally, Max can learn about unfamiliar objects in his environment, such as food and toys, by observing and correctly interpreting Morris's interactions with these objects, demonstrating his ability to take advantage of socially acquired information.by Daphna Buchsbaum.S.M

    Computational Methods for Cognitive and Cooperative Robotics

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    In the last decades design methods in control engineering made substantial progress in the areas of robotics and computer animation. Nowadays these methods incorporate the newest developments in machine learning and artificial intelligence. But the problems of flexible and online-adaptive combinations of motor behaviors remain challenging for human-like animations and for humanoid robotics. In this context, biologically-motivated methods for the analysis and re-synthesis of human motor programs provide new insights in and models for the anticipatory motion synthesis. This thesis presents the author’s achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter “Goal-directed Imitation for Robots” considers imitation learning in cognitive and developmental robotics. The work presented here details the author’s progress in the development of hierarchical motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of ‘learning for imitation’ and ‘learning by imitation’. The complete system includes a low-level real-time capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts. Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the problems of task-related action transitions are considered in the second part of the thesis “Kinematic Motion Synthesis for Computer Graphics and Robotics”. In this part, a new approach of modeling complex full-body human actions by mixtures of time-shift invariant motor primitives in presented. The online-capable full-body motion generation architecture based on dynamic movement primitives driving the time-shift invariant motor synergies was implemented as an online-reactive adaptive motion synthesis for computer graphics and robotics applications. The last chapter of the thesis entitled “Contraction Theory and Self-organized Scenarios in Computer Graphics and Robotics” is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last part presents new mathematical tools for stability analysis and synthesis of multi-agent cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der kĂŒnstlichen Intelligenz. Die flexible und echtzeitfĂ€hige Kombination von motorischen Verhaltensweisen ist eine wesentliche Herausforderung fĂŒr die Generierung menschenĂ€hnlicher Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme neue Erkenntnisse und Modelle fĂŒr die antizipatorische Bewegungssynthese. Diese Dissertation prĂ€sentiert die Ergebnisse der Arbeiten des Autors im Gebiet der kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der Dissertation im Kapitel “Zielgerichtete Nachahmung fĂŒr Roboter” behandelt das Imitationslernen in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben neue Methoden fĂŒr die hierarchische Bewegungserkennung und -planung, die durch Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert wurden. Die entwickelte Architektur ist in der Lage, ‘durch Imitation zu lernen’ und ‘zu lernen zu imitieren’. Das komplette entwickelte System enthĂ€lt ein echtzeitfĂ€higes Pfadplanungssubsystem zur Hindernisvermeidung wĂ€hrend der DurchfĂŒhrung von Armbewegungen. Das lernbasierte Pfadplanungssubsystem ist universell und fĂŒr alle Arten von anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer Handlungen zu ĂŒbertragen. Im zweiten Teil der Arbeit “Kinematische Bewegungssynthese fĂŒr Computergrafik und Robotik” werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h. von rĂ€umlichen und rĂ€umlich-zeitlichen Kombinationen motorischer Bewegungselemente bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs ĂŒbergĂ€ngen behandelt. Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem wurde ein online-fĂ€higer Synthesealgorithmus fĂŒr Ganzköperbewegungen entwickelt, der auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde fĂŒr verschiedene Probleme der Bewegungssynthese fĂŒr die Computergrafik- und Roboteranwendungen implementiert. Das letzte Kapitel der Dissertation mit dem Titel “Kontraktionstheorie und selbstorganisierte Szenarien in der Computergrafik und Robotik” widmet sich optimalen Kontrollstrategien in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare Kinematik gekennzeichnet sind. Dieser letzte Teil prĂ€sentiert neue mathematische Werkzeuge fĂŒr die StabilitĂ€tsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien

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

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    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)
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