Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks

A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by interactive demonstration. To make this effective and convenient for the user, the machine must be capable to establish a common focus of attention and be able to use and integrate spoken instructions, visual perceptions, and non-verbal clues like gestural commands. We report progress in building a hybrid architecture that combines statistical methods, neural networks, and finite state machines into an integrated system for instructing grasping tasks by man-machine interaction. The system combines the GRAVIS-robot for visual attention and gestural instruction with an intelligent interface for speech recognition and linguistic interpretation, and an modality fusion module to allow multi-modal task-oriented man-machine communication with respect to dextrous robot manipulation of objects.Comment: 7 pages, 8 figure

Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.”This position paper proposes that the study of embodied cognitive agents, such as humanoid robots, can advance our understanding of the cognitive development of complex sensorimotor, linguistic, and social learning skills. This in turn will benefit the design of cognitive robots capable of learning to handle and manipulate objects and tools autonomously, to cooperate and communicate with other robots and humans, and to adapt their abilities to changing internal, environmental, and social conditions. Four key areas of research challenges are discussed, specifically for the issues related to the understanding of: 1) how agents learn and represent compositional actions; 2) how agents learn and represent compositional lexica; 3) the dynamics of social interaction and learning; and 4) how compositional action and language representations are integrated to bootstrap the cognitive system. The review of specific issues and progress in these areas is then translated into a practical roadmap based on a series of milestones. These milestones provide a possible set of cognitive robotics goals and test scenarios, thus acting as a research roadmap for future work on cognitive developmental robotics.Peer reviewe

The Importance of Correlations and Fluctuations on the Initial Source Eccentricity in High-Energy Nucleus-Nucleus Collisions

In this paper, we investigate various ways of defining the initial source eccentricity using the Monte Carlo Glauber (MCG) approach. In particular, we examine the participant eccentricity, which quantifies the eccentricity of the initial source shape by the major axes of the ellipse formed by the interaction points of the participating nucleons. We show that reasonable variation of the density parameters in the Glauber calculation, as well as variations in how matter production is modeled, do not significantly modify the already established behavior of the participant eccentricity as a function of collision centrality. Focusing on event-by-event fluctuations and correlations of the distributions of participating nucleons we demonstrate that, depending on the achieved event-plane resolution, fluctuations in the elliptic flow magnitude $v_2$ lead to most measurements being sensitive to the root-mean-square, rather than the mean of the $v_2$ distribution. Neglecting correlations among participants, we derive analytical expressions for the participant eccentricity cumulants as a function of the number of participating nucleons, \Npart,keeping non-negligible contributions up to \ordof{1/\Npart^3}. We find that the derived expressions yield the same results as obtained from mixed-event MCG calculations which remove the correlations stemming from the nuclear collision process. Most importantly, we conclude from the comparison with MCG calculations that the fourth order participant eccentricity cumulant does not approach the spatial anisotropy obtained assuming a smooth nuclear matter distribution. In particular, for the Cu+Cu system, these quantities deviate from each other by almost a factor of two over a wide range in centrality.Comment: 18 pages, 10 figures, submitted to PR

Centrality dependence of charged antiparticle to particle ratios near mid-rapidity in d+Au collisions at sqrt(s_NN)=200 GeV

The ratios of the yields of charged antiparticles to particles have been obtained for pions, kaons, and protons near mid-rapidity for d+Au collisions at sqrt(s_NN) = 200 GeV as a function of centrality. The reported values represent the ratio of the yields averaged over the rapidity range of 0.1<y_pi<1.3 and 0<y_(K,p)<0.8, where positive rapidity is in the deuteron direction, and for transverse momenta 0.1<p_(T)^(pi,K)<1.0 GeV/c and 0.3<p_(T)^(p)<1.0 GeV/c. Within the uncertainties, a lack of centrality dependence is observed in all three ratios. The data are compared to results from other systems and model calculations.Comment: 6 pages, 4 figures, submitted to PR

Collision geometry scaling of Au+Au pseudorapidity density from sqrt(s_NN) = 19.6 to 200 GeV

The centrality dependence of the midrapidity charged particle multiplicity in Au+Au collisions at sqrt(s_NN) = 19.6 and 200 GeV is presented. Within a simple model, the fraction of hard (scaling with number of binary collisions) to soft (scaling with number of participant pairs) interactions is consistent with a value of x = 0.13 +/- 0.01(stat) +/- 0.05(syst) at both energies. The experimental results at both energies, scaled by inelastic p(pbar)+p collision data, agree within systematic errors. The ratio of the data was found not to depend on centrality over the studied range and yields a simple linear scale factor of R_(200/19.6) = 2.03 +/- 0.02(stat) +/- 0.05(syst).Comment: 5 pages, 4 figures, submitted to PRC-R

System size and centrality dependence of charged hadron transverse momentum spectra in Au+Au and Cu+Cu collisions at sqrt(s) = 62.4 and 200 GeV

We present transverse momentum distributions of charged hadrons produced in Cu+Cu collisions at sqrt(s) = 62.4 and 200 GeV. The spectra are measured for transverse momenta of 0.25 < p_T < 5.0 GeV/c at sqrt(s) = 62.4 GeV and 0.25 < p_T < 7.0 GeV/c at sqrt(s) = 200 GeV, in a pseudo-rapidity range of 0.2 < eta < 1.4. The nuclear modification factor R_AA is calculated relative to p+p data at both collision energies as a function of collision centrality. At a given collision energy and fractional cross-section, R_AA is observed to be systematically larger in Cu+Cu collisions compared to Au+Au. However, for the same number of participating nucleons, R_AA is essentially the same in both systems over the measured range of p_T, in spite of the significantly different geometries of the Cu+Cu and Au+Au systems.Comment: 4 pages, 5 figures, submitted to Phys. Rev. Let

System Size, Energy and Centrality Dependence of Pseudorapidity Distributions of Charged Particles in Relativistic Heavy Ion Collisions

We present the first measurements of the pseudorapidity distribution of primary charged particles in Cu+Cu collisions as a function of collision centrality and energy, \sqrtsnn = 22.4, 62.4 and 200 GeV, over a wide range of pseudorapidity, using the PHOBOS detector. Making a global comparison of Cu+Cu and Au+Au results, we find that the total number of produced charged particles and the rough shape (height and width) of the pseudorapidity distributions are determined by the number of nucleon participants. More detailed studies reveal that a more precise matching of the shape of the Cu+Cu and Au+Au pseudorapidity distributions over the full range of pseudorapidity occurs for the same Npart/2A value rather than the same Npart value. In other words, it is the collision geometry rather than just the number of nucleon participants that drives the detailed shape of the pseudorapidity distribution and its centrality dependence at RHIC energies.Comment: Submitted to Physical Review Letter

Identified charged antiparticle to particle ratios near midrapidity in Cu+Cu collisions at sqrt(s) = 62.4 and 200 GeV

Antiparticle to particle ratios for identified protons, kaons and pions at sqrt(s) = 62.4 and 200 GeV in Cu+Cu collisions are presented as a function of centrality for the midrapidity region of 0.2 < eta < 1.4. No strong dependence on centrality is observed. For the / ratio at ~ 0.51 GeV/c, we observe an average value of 0.50 +/- 0.003_(stat) +/- 0.04_(syst) and 0.77 +/- 0.008_(stat) +/- 0.05_(syst) for the 10% most central collisions of 62.4 and 200 GeV Cu+Cu, respectively. The values for all three particle species measured at sqrt(s) = 200 GeV are in agreement within systematic uncertainties with that seen in both heavier and lighter systems measured at the same RHIC energy. This indicates that system size does not appear to play a strong role in determining the midrapidity chemical freeze-out properties affecting the antiparticle to particle ratios of the three most abundant particle species produced in these collisions.Comment: 5 Pages, 4 figures Made changes to the figures to include the panel numbers. Slight changes to the text. Updated data points from other experiment

Centrality and pseudorapidity dependence of elliptic flow for charged hadrons in Au+Au collisions at sqrt(sNN) = 200 GeV

This paper describes the measurement of elliptic flow for charged particles in Au+Au collisions at sqrt(sNN)=200 GeV using the PHOBOS detector at the Relativistic Heavy Ion Collider (RHIC). The measured azimuthal anisotropy is presented over a wide range of pseudorapidity for three broad collision centrality classes for the first time at this energy. Two distinct methods of extracting the flow signal were used in order to reduce systematic uncertainties. The elliptic flow falls sharply with increasing eta at 200 GeV for all the centralities studied, as observed for minimum-bias collisions at sqrt(sNN)=130 GeV.Comment: Final published version: the most substantive change to the paper is the inclusion of a complete description of how the errors from the hit-based and track-based analyses are merged to produce the 90% C.L. errors quoted for the combined results shown in Fig.

Event-by-event fluctuations of azimuthal particle anisotropy in Au+Au collisions at sqrt(s_NN) = 200 GeV

This paper presents the first measurement of event-by-event fluctuations of the elliptic flow parameter v_2 in Au+Au collisions at sqrt(s_NN) = 200GeV as a function of collision centrality. The relative non-statistical fluctuations of the v_2 parameter are found to be approximately 40%. The results, including contributions from event-by-event elliptic flow fluctuations and from azimuthal correlations that are unrelated to the reaction plane (non-flow correlations), establish an upper limit on the magnitude of underlying elliptic flow fluctuations. This limit is consistent with predictions based on spatial fluctuations of the participating nucleons in the initial nuclear overlap region. These results provide important constraints on models of the initial state and hydrodynamic evolution of relativistic heavy ion collisions.Comment: 5 pages, 2 figures, Published in Phys. Rev. Lett