Toward understanding natural language directions

Speaking using unconstrained natural language is an intuitive and flexible way for humans to interact with robots. Understanding this kind of linguistic input is challenging because diverse words and phrases must be mapped into structures that the robot can understand, and elements in those structures must be grounded in an uncertain environment. We present a system that follows natural language directions by extracting a sequence of spatial description clauses from the linguistic input and then infers the most probable path through the environment given only information about the environmental geometry and detected visible objects. We use a probabilistic graphical model that factors into three key components. The first component grounds landmark phrases such as "the computers" in the perceptual frame of the robot by exploiting co-occurrence statistics from a database of tagged images such as Flickr. Second, a spatial reasoning component judges how well spatial relations such as "past the computers" describe a path. Finally, verb phrases such as "turn right" are modeled according to the amount of change in orientation in the path. Our system follows 60% of the directions in our corpus to within 15 meters of the true destination, significantly outperforming other approaches.United States. Office of Naval Research (MURI N00014-07-1-0749

Grounding Verbs of Motion in Natural Language Commands to Robots

To be useful teammates to human partners, robots must be able to follow spoken instructions given in natural language. An important class of instructions involve interacting with people, such as “Follow the person to the kitchen” or “Meet the person at the elevators.” These instructions require that the robot fluidly react to changes in the environment, not simply follow a pre-computed plan. We present an algorithm for understanding natural language commands with three components. First, we create a cost function that scores the language according to how well it matches a candidate plan in the environment, defined as the log-likelihood of the plan given the command. Components of the cost function include novel models for the meanings of motion verbs such as “follow,” “meet,” and “avoid,” as well as spatial relations such as “to” and landmark phrases such as “the kitchen.” Second, an inference method uses this cost function to perform forward search, finding a plan that matches the natural language command. Third, a high-level controller repeatedly calls the inference method at each timestep to compute a new plan in response to changes in the environment such as the movement of the human partner or other people in the scene. When a command consists of more than a single task, the controller switches to the next task when an earlier one is satisfied. We evaluate our approach on a set of example tasks that require the ability to follow both simple and complex natural language commands. Keywords: Cost Function; Spatial Relation; State Sequence; Edit Distance; Statistical Machine TranslationUnited States. Office of Naval Research (Grant MURI N00014-07-1-0749

Computational steering of a multi-objective evolutionary algorithm for engineering design

The execution process of an evolutionary algorithm typically involves some trial and error. This is due to the difficulty in setting the initial parameters of the algorithm—especially when little is known about the problem domain. This problem is magnified when applied to many-objective optimisation, as care is needed to ensure that the final population of candidate solutions is representative of the trade-off surface. We propose a computational steering system that allows the engineer to interact with the optimisation routine during execution. This interaction can be as simple as monitoring the values of some parameters during the execution process, or could involve altering those parameters to influence the quality of the solutions produced by the optimisation process. The implementation of this steering system should provide the ability to tailor the client to the hardware available, for example providing a lightweight steering and visualisation client for use on a PDA

A hybrid multi-objective evolutionary approach for optimal path planning of a hexapod robot

Hexapod robots are six-legged robotic systems, which have been widely investigated in the literature for various applications including exploration, rescue, and surveillance. Designing hexapod robots requires to carefully considering a number of different aspects. One of the aspects that require careful design attention is the planning of leg trajectories. In particular, given the high demand for fast motion and high-energy autonomy it is important to identify proper leg operation paths that can minimize energy consumption while maximizing the velocity of the movements. In this frame, this paper presents a preliminary study on the application of a hybrid multi-objective optimization approach for the computer-aided optimal design of a legged robot. To assess the methodology, a kinematic and dynamic model of a leg of a hexapod robot is proposed as referring to the main design parameters of a leg. Optimal criteria have been identified for minimizing the energy consumption and efficiency as well as maximizing the walking speed and the size of obstacles that a leg can overtake. We evaluate the performance of the hybrid multi-objective evolutionary approach to explore the design space and provide a designer with an optimal setting of the parameters. Our simulations demonstrate the effectiveness of the hybrid approach by obtaining improved Pareto sets of trade-off solutions as compared with a standard evolutionary algorithm. Computational costs show an acceptable increase for an off-line path planner. © Springer International Publishing Switzerland 2016

An Evolutionary Approach to Active Robust Multiobjective Optimisation

An Active Robust Optimisation Problem (AROP) aims at finding robust adaptable solutions, i.e. solutions that actively gain robustness to environmental changes through adaptation. Existing AROP studies have considered only a single performance objective. This study extends the Active Robust Optimisation methodology to deal with problems with more than one objective. Once multiple objectives are considered, the optimal performance for every uncertain parameter setting is a set of configurations, offering different trade-offs between the objectives. To evaluate and compare solutions to this type of problems, we suggest a robustness indicator that uses a scalarising function combining the main aims of multi-objective optimisation: proximity, diversity and pertinence. The Active Robust Multi-objective Optimisation Problem is formulated in this study, and an evolutionary algorithm that uses the hypervolume measure as a scalarasing function is suggested in order to solve it. Proof-of-concept results are demonstrated using a simplified gearbox optimisation problem for an uncertain load demand

A novel preference articulation operator for the Evolutionary Multi-Objective Optimisation of classifiers in concealed weapons detection

Abstract The incorporation of decision maker preferences is often neglected in the Evolutionary Multi-Objective Optimisation (EMO) literature. The majority of the research in the field and the development of EMO algorithms is primarily focussed on converging to a Pareto optimal approximation close to or along the true Pareto front of synthetic test problems. However, when EMO is applied to real-world optimisation problems there is often a decision maker who is only interested in a portion of the Pareto front (the Region of Interest) which is defined by their expressed preferences for the problem objectives. In this paper a novel preference articulation operator for EMO algorithms is introduced (named the Weighted Z-score Preference Articulation Operator) with the flexibility of being incorporated a priori, a posteriori or progressively, and as either a primary or auxiliary fitness operator. The Weighted Z-score Preference Articulation Operator is incorporated into an implementation of the Multi-Objective Evolutionary Algorithm Based on Decomposition (named WZ-MOEA/D) and benchmarked against MOEA/D-DRA on a number of bi-objective and five-objective test problems with test cases containing preference information. After promising results are obtained when comparing WZ-MOEA/D to MOEA/D-DRA in the presence of decision maker preferences, WZ-MOEA/D is successfully applied to a real-world optimisation problem to optimise a classifier for concealed weapon detection, producing better results than previously published classifier implementations

A technique based on trade-off maps to visualise and analyse relationships between objectives in optimisation problems

Understanding the relationships between objectives in a multiobjective optimisation problem is important for developing tailored and efficient solving techniques. In particular, when tackling combinatorial optimisation problems with many objectives that arise in real-world logistic scenarios, better support for the decision maker can be achieved through better understanding of the often complex fitness landscape. This paper makes a contribution in this direction by presenting a technique that allows a visualisation and analysis of the local and global relationships between objectives in optimisation problems with many objectives. The proposed technique uses four steps: first the global pairwise relationships are analysed using the Kendall correlation method; then the ranges of the values found on the given Pareto front are estimated and assessed; next these ranges are used to plot a map using Gray code, similar to Karnaugh maps, that has the ability to highlight the trade-offs between multiple objectives; and finally local relationships are identified using scatter-plots. Experiments are presented for three different combinatorial optimisation problems: multiobjective multidimensional knapsack problem, multiobjective nurse scheduling problem and multiobjective vehicle routing problem with time windows. Results show that the proposed technique helps in the gaining of insights into the problem difficulty arising from the relationships between objectives

Controller tuning by means of evolutionary multiobjective optimization: current trends and applications

Control engineering problems are generally multi-objective problems; meaning that there are several specifications and requirements that must be fulfilled. A traditional approach for calculating a solution with the desired trade-off is to define an optimisation statement. Multi-objective optimisation techniques deal with this problem from a particular perspective and search for a set of potentially preferable solutions; the designer may then analyse the trade-offs among them, and select the best solution according to his/her preferences. In this paper, this design procedure based on evolutionary multiobjective optimisation (EMO) is presented and significant applications on controller tuning are discussed. Throughout this paper it is noticeable that EMO research has been developing towards different optimisation statements, but these statements are not commonly used in controller tuning. Gaps between EMO research and EMO applications on controller tuning are therefore detected and suggested as potential trends for research.The first author is grateful for the hospitality and availability of the UTC at the University of Sheffield during his academic research stay at 2011; especially to Dr. P.J. Fleming for his valuable comments and insights in the development of this paper. This work was partially supported by Grant FPI-2010/19 and project PAID-2011/2732 from the Universitat Politecnica de Valencia and projects TIN2011-28082 and ENE2011-25900 from the Spanish Ministry of Economy and Competitiveness.Reynoso Meza, G.; Blasco Ferragud, FX.; Sanchís Saez, J.; Martínez Iranzo, MA. (2014). Controller tuning by means of evolutionary multiobjective optimization: current trends and applications. Control Engineering Practice. 28:58-73. https://doi.org/10.1016/j.conengprac.2014.03.003S58732

Prevalence of challenging behaviour in adults with intellectual disabilities, correlates, and association with mental health

Purpose of Review To summarise findings about the prevalence and correlates of challenging behaviour in adults with intellectual disabilities from robust research. We also describe findings on the interplay between challenging behaviour and mental health. Recent Findings Recent studies that have utilised psychometrically evaluated tools, with clear operational definitions, show similar findings on the prevalence of challenging behaviour of about 1 in every 5–6 adults known to services. We describe common correlates identified such as communication impairments, severity of intellectual disability, and living in institutional settings or congregate care. We also describe the complex and multifaceted relationship between challenging behaviour and mental health. Summary Based on recent studies, we propose a revised framework model to help understand challenging behaviour. We propose a number of areas where more research is required, particularly the development of risk tools clinicians can utilise in practice

The effectiveness, acceptability and cost-effectiveness of psychosocial interventions for maltreated children and adolescents: an evidence synthesis.

BACKGROUND: Child maltreatment is a substantial social problem that affects large numbers of children and young people in the UK, resulting in a range of significant short- and long-term psychosocial problems. OBJECTIVES: To synthesise evidence of the effectiveness, cost-effectiveness and acceptability of interventions addressing the adverse consequences of child maltreatment. STUDY DESIGN: For effectiveness, we included any controlled study. Other study designs were considered for economic decision modelling. For acceptability, we included any study that asked participants for their views. PARTICIPANTS: Children and young people up to 24 years 11 months, who had experienced maltreatment before the age of 17 years 11 months. INTERVENTIONS: Any psychosocial intervention provided in any setting aiming to address the consequences of maltreatment. MAIN OUTCOME MEASURES: Psychological distress [particularly post-traumatic stress disorder (PTSD), depression and anxiety, and self-harm], behaviour, social functioning, quality of life and acceptability. METHODS: Young Persons and Professional Advisory Groups guided the project, which was conducted in accordance with Cochrane Collaboration and NHS Centre for Reviews and Dissemination guidance. Departures from the published protocol were recorded and explained. Meta-analyses and cost-effectiveness analyses of available data were undertaken where possible. RESULTS: We identified 198 effectiveness studies (including 62 randomised trials); six economic evaluations (five using trial data and one decision-analytic model); and 73 studies investigating treatment acceptability. Pooled data on cognitive-behavioural therapy (CBT) for sexual abuse suggested post-treatment reductions in PTSD [standardised mean difference (SMD) -0.44 (95% CI -4.43 to -1.53)], depression [mean difference -2.83 (95% CI -4.53 to -1.13)] and anxiety [SMD -0.23 (95% CI -0.03 to -0.42)]. No differences were observed for post-treatment sexualised behaviour, externalising behaviour, behaviour management skills of parents, or parental support to the child. Findings from attachment-focused interventions suggested improvements in secure attachment [odds ratio 0.14 (95% CI 0.03 to 0.70)] and reductions in disorganised behaviour [SMD 0.23 (95% CI 0.13 to 0.42)], but no differences in avoidant attachment or externalising behaviour. Few studies addressed the role of caregivers, or the impact of the therapist-child relationship. Economic evaluations suffered methodological limitations and provided conflicting results. As a result, decision-analytic modelling was not possible, but cost-effectiveness analysis using effectiveness data from meta-analyses was undertaken for the most promising intervention: CBT for sexual abuse. Analyses of the cost-effectiveness of CBT were limited by the lack of cost data beyond the cost of CBT itself. CONCLUSIONS: It is not possible to draw firm conclusions about which interventions are effective for children with different maltreatment profiles, which are of no benefit or are harmful, and which factors encourage people to seek therapy, accept the offer of therapy and actively engage with therapy. Little is known about the cost-effectiveness of alternative interventions. LIMITATIONS: Studies were largely conducted outside the UK. The heterogeneity of outcomes and measures seriously impacted on the ability to conduct meta-analyses. FUTURE WORK: Studies are needed that assess the effectiveness of interventions within a UK context, which address the wider effects of maltreatment, as well as specific clinical outcomes. STUDY REGISTRATION: This study is registered as PROSPERO CRD42013003889. FUNDING: The National Institute for Health Research Health Technology Assessment programme