Slowness learning for curiosity-driven agents

In the absence of external guidance, how can a robot learn to map the many raw pixels of high-dimensional visual inputs to useful action sequences? I study methods that achieve this by making robots self-motivated (curious) to continually build compact representations of sensory inputs that encode different aspects of the changing environment. Previous curiosity-based agents acquired skills by associating intrinsic rewards with world model improvements, and used reinforcement learning (RL) to learn how to get these intrinsic rewards. But unlike in previous implementations, I consider streams of high-dimensional visual inputs, where the world model is a set of compact low-dimensional representations of the high-dimensional inputs. To learn these representations, I use the slowness learning principle, which states that the underlying causes of the changing sensory inputs vary on a much slower time scale than the observed sensory inputs. The representations learned through the slowness learning principle are called slow features (SFs). Slow features have been shown to be useful for RL, since they capture the underlying transition process by extracting spatio-temporal regularities in the raw sensory inputs. However, existing techniques that learn slow features are not readily applicable to curiosity-driven online learning agents, as they estimate computationally expensive covariance matrices from the data via batch processing. The first contribution called the incremental SFA (IncSFA), is a low-complexity, online algorithm that extracts slow features without storing any input data or estimating costly covariance matrices, thereby making it suitable to be used for several online learning applications. However, IncSFA gradually forgets previously learned representations whenever the statistics of the input change. In open-ended online learning, it becomes essential to store learned representations to avoid re- learning previously learned inputs. The second contribution is an online active modular IncSFA algorithm called the curiosity-driven modular incremental slow feature analysis (Curious Dr. MISFA). Curious Dr. MISFA addresses the forgetting problem faced by IncSFA and learns expert slow feature abstractions in order from least to most costly, with theoretical guarantees. The third contribution uses the Curious Dr. MISFA algorithm in a continual curiosity-driven skill acquisition framework that enables robots to acquire, store, and re-use both abstractions and skills in an online and continual manner. I provide (a) a formal analysis of the working of the proposed algorithms; (b) compare them to the existing methods; and (c) use the iCub humanoid robot to demonstrate their application in real-world environments. These contributions together demonstrate that the online implementations of slowness learning make it suitable for an open-ended curiosity-driven RL agent to acquire a repertoire of skills that map the many raw pixels of high-dimensional images to multiple sets of action sequences

Old Meets New: Media in Education – Proceedings of the 61st International Council for Educational Media and the XIII International Symposium on Computers in Education (ICEM&SIIE'2011) Joint Conference

A conferência ICEM&SIIE'2011 foi organizada pela Universidade de Aveiro (Portugal) – membro do European Consortium of Innovative Universities – e pretendeu reunir investigadores, professores e outros profissionais, a nível nacional e internacional, em torno de um tema aglutinador que pretendeu despoletar e colocar a tónica da discussão na dualidade ―old/new‖, ou seja, os participantes foram convidados a discutir: - os media na educação em ambas as perspetivas, mais tradicionais ou modernas, com incidência numas ou noutras ou, ainda, numa perspetiva comparativa; - a conjugação, adaptação e adoção dos media consoante os contextos e objetivos de utilização; - o que os media implicam em termos de tecnologia, barreiras profissionais e /ou sociais; - a relação custo-benefício da utilização dos media em contexto de aprendizagem; - os media em função dos diversos contextos educativos e dos perfis de aprendizagem dos alunos. Para a conferência foram selecionados 76 artigos organizados em 15 sessões paralelas, 13 posters e 9 workshops. A conferência caracterizou-se pelo caráter internacional dos contributos, reunindo 38 artigos em português, 32 em língua inglesa e 6 em espanhol. Estas atas encontram-se organizadas de acordo com o programa da conferência. Em primeiro lugar incluem-se os artigos (full paper e short paper) por sessão, seguem-se os posters e, finalmente, o resumo relativo aos workshops.The ICEM&SIIE'2011 conference was organised by the University of Aveiro (Portugal) – a member of the European Consortium of Innovative Universities – and aimed at gathering researchers, teachers and other professionals, at national and international level, around a focal topic that might trigger and centre the discussion on the ―old/new‖ duality of media in education. Participants were invited to discuss: - old and new media in education, in isolation or comparatively; - how old and new media in education can be combined, adopted and adapted; - what old and new media in education imply in terms of technological, professional and social barriers; - what cost-benefit relationships old and new media in education entail; - how to compare old and new media in education given their particular educational contexts and the students' learning profiles. 76 papers were selected and organised in 15 paralel sessions, 13 posters and 9 workshops. The conference is characterized by the international character of contributions, gathering 38 papers in Portuguese, 32 in English and 6 in Spanish. These procedings are organised according to the programme of the conference. First we find the full and short papers, per session, then posters and finally the abstracts for the workshops

Active Calculus 2.1

Active Calculus is different from most existing calculus texts in at least the following ways: the text is freely readable online in HTML format and is also available for in PDF; in the electronic format, graphics are in full color and there are live links to java applets; there are live WeBWorK exercises in each chapter, which are fully interactive in the HTML format and included in print in the PDF; the text is open source, and interested users can gain access to the original source files on GitHub; the style of the text requires students to be active learners — there are very few worked examples in the text, with there instead being 3-4 activities per section that engage students in connecting ideas, solving problems, and developing understanding of key calculus concepts; each section begins with motivating questions, a brief introduction, and a preview activity, all of which are designed to be read and completed prior to class; following the WeBWorK exercises in each section, there are several challenging problems that require students to connect key ideas and write to communicate their understanding. For more information, see the author\u27s website and blog.https://scholarworks.gvsu.edu/books/1018/thumbnail.jp