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

System Size, Energy, Pseudorapidity, and Centrality Dependence of Elliptic Flow

This paper presents measurements of the elliptic flow of charged particles as a function of pseudorapidity and centrality from Cu-Cu collisions at 62.4 and 200 GeV using the PHOBOS detector at the Relativistic Heavy Ion Collider (RHIC). The elliptic flow in Cu-Cu collisions is found to be significant even for the most central events. For comparison with the Au-Au results, it is found that the detailed way in which the collision geometry (eccentricity) is estimated is of critical importance when scaling out system-size effects. A new form of eccentricity, called the participant eccentricity, is introduced which yields a scaled elliptic flow in the Cu-Cu system that has the same relative magnitude and qualitative features as that in the Au-Au system

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.

Latest Results from PHOBOS

This manuscript contains a summary of the latest physics results from PHOBOS, as reported at Quark Matter 2006. Highlights include the first measurement from PHOBOS of dynamical elliptic flow fluctuations as well as an explanation of their possible origin, two-particle correlations, identified particle ratios, identified particle spectra and the latest results in global charged particle production.Comment: 9 pages, 7 figures, PHOBOS plenary proceedings for Quark Matter 200

System size, energy, centrality and pseudorapidity dependence of charged-particle density in Au+Au and Cu+Cu collisions at RHIC

Charged particle pseudorapidity distributions are presented from the PHOBOS experiment at RHIC, measured in Au+Au and Cu+Cu collisions at sqrt{s_NN}=19.6, 22.4, 62.4, 130 and 200 GeV, as a function of collision centrality. The presentation includes the recently analyzed Cu+Cu data at 22.4 GeV. The measurements were made by the same detector setup over a broad range in pseudorapidity, |eta|<5.4, allowing for a reliable systematic study of particle production as a function of energy, centrality and system size. Comparing Cu+Cu and Au+Au results, we find that the total number of produced charged particles and the overall shape (height and width) of the pseudorapidity distributions are determined by the number of nucleon participants, N_part. Detailed comparisons reveal that the matching of the shape of the Cu+Cu and Au+Au pseudorapidity distributions over the full range of eta is better for the same N_part/2A value than for the same N_part value, where A denotes the mass number. In other words, it is the geometry of the nuclear overlap zone, rather than just the number of nucleon participants that drives the detailed shape of the pseudorapidity distribution and its centrality dependence.Comment: 5 pages, 4 figures. Presented at the 20th International Conference on Nucleus-Nucleus Collisions (Quark Matter 2008), Jaipur, Rajasthan, India, 4-10 February 200

Non-flow correlations and elliptic flow fluctuations in gold-gold collisions at sqrt(s_NN)= 200 GeV

This paper presents results on event-by-event elliptic flow fluctuations in Au+Au collisions at sqrt(s_NN)=200Gev, where the contribution from non-flow correlations has been subtracted. An analysis method is introduced to measure non-flow correlations, relying on the assumption that non-flow correlations are most prominent at short ranges (Delta eta < 2). Assuming that non-flow correlations are of the order that is observed in p+p collisions for long range correlations (Delta eta > 2), relative elliptic flow fluctuations of approximately 30-40% are observed. These results are consistent with predictions based on spatial fluctuations of the participating nucleons in the initial nuclear overlap region. It is found that the long range non-flow correlations in Au+Au collisions would have to be more than an order of magnitude stronger compared to the p+p data to lead to the observed azimuthal anisotropy fluctuations with no intrinsic elliptic flow fluctuations.Comment: 9 pages, 7 figures, Published in Phys. Rev.