Considering the anchoring problem in robotic intelligent bin picking

Random Bin Picking means the selection by a robot of a particular item from a container (or bin) in which there are many items randomly distributed. Generalist robots and the Anchoring Problem should be considered if we want to provide a more general solution, since users want that it works with different type of items that are not known 'a priori'. Therefore, we are working on an approach in which robot learning and human-robot interaction are used to anchor control primitives and robot skills to objects and action symbols while the robot system is running, but we are limiting the scope to the packaging domain. In this paper we explain how to use our system to do anchoring in Robotic Bin Picking.Peer ReviewedPostprint (author's final draft

Incremental construction of LSTM recurrent neural network

Long Short--Term Memory (LSTM) is a recurrent neural network that uses structures called memory blocks to allow the net remember significant events distant in the past input sequence in order to solve long time lag tasks, where other RNN approaches fail. Throughout this work we have performed experiments using LSTM networks extended with growing abilities, which we call GLSTM. Four methods of training growing LSTM has been compared. These methods include cascade and fully connected hidden layers as well as two different levels of freezing previous weights in the cascade case. GLSTM has been applied to a forecasting problem in a biomedical domain, where the input/output behavior of five controllers of the Central Nervous System control has to be modelled. We have compared growing LSTM results against other neural networks approaches, and our work applying conventional LSTM to the task at hand.Postprint (published version

Symbolic and connectionist learning techniques for grammatical inference

This thesis is structured in four parts for a total of ten chapters. The first part, introduction and review (Chapters 1 to 4), presents an extensive state-of-the-art review of both symbolic and connectionist GI methods, that serves also to state most of the basic material needed to describe later the contributions of the thesis. These contributions constitute the contents of the rest of parts (Chapters 5 to 10). The second part, contributions on symbolic and connectionist techniques for regular grammatical inference (Chapters 5 to 7), describes the contributions related to the theory and methods for regular GI, which include other lateral subjects such as the representation oí. finite-state machines (FSMs) in recurrent neural networks (RNNs).The third part of the thesis, augmented regular expressions and their inductive inference, comprises Chapters 8 and 9. The augmented regular expressions (or AREs) are defined and proposed as a new representation for a subclass of CSLs that does not contain all the context-free languages but a large class of languages capable of describing patterns with symmetries and other (context-sensitive) structures of interest in pattern recognition problems.The fourth part of the thesis just includes Chapter 10: conclusions and future research. Chapter 10 summarizes the main results obtained and points out the lines of further research that should be followed both to deepen in some of the theoretical aspects raised and to facilitate the application of the developed GI tools to real-world problems in the area of computer vision

Comparing error minimized extreme learning machines and support vector sequential feed-forward neural networks

Recently, error minimized extreme learning machines (EM-ELMs) have been proposed as a simple and efficient approach to build single-hidden-layer feed-forward networks (SLFNs) sequentially. They add random hidden nodes one by one (or group by group) and update the output weights incrementally to minimize the sum-of-squares error in the training set. Other very similar methods that also construct SLFNs sequentially had been reported earlier with the main difference that their hidden-layer weights are a subset of the data instead of being random. By analogy with the concept of support vectors original of support vector machines (SVMs), these approaches can be referred to as support vector sequential feed-forward neural networks (SV-SFNNs), and they are a particular case of the Sequential Approximation with Optimal Coefficients and Interacting Frequencies (SAOCIF) method. In this paper, it is firstly shown that EM-ELMs can also be cast as a particular case of SAOCIF. In particular, EM-ELMs can easily be extended to test some number of random candidates at each step and select the best of them, as SAOCIF does. Moreover, it is demonstrated that the cost of the calculation of the optimal output-layer weights in the originally proposed EM-ELMs can be improved if it is replaced by the one included in SAOCIF. Secondly, we present the results of an experimental study on 10 benchmark classification and 10 benchmark regression data sets, comparing EM-ELMs and SV-SFNNs, that was carried out under the same conditions for the two models. Although both models have the same (efficient) computational cost, a statistically significant improvement in generalization performance of SV-SFNNs vs. EM-ELMs was found in 12 out of the 20 benchmark problems.Postprint (published version

Fuzzy heterogeneous neurons for imprecise classification problems

In the classical neuron model, inputs are continuous real-valued quantities. However, in many important domains from the real world, objects are described by a mixture of continuous and discrete variables, usually containing missing information and uncertainty. In this paper, a general class of neuron models accepting heterogeneous inputs in the form of mixtures of continuous (crisp and/or fuzzy) and discrete quantities admitting missing data is presented. From these, several particular models can be derived as instances and different neural architectures constructed with them. Such models deal in a natural way with problems for which information is imprecise or even missing. Their possibilities in classification and diagnostic problems are here illustrated by experiments with data from a real-world domain in the field of environmental studies. These experiments show that such neurons can both learn and classify complex data very effectively in the presence of uncertain information.Peer ReviewedPostprint (author's final draft

Fuzzy heterogeneous neural networks for signal forecasting

Fuzzy heterogeneous neural networks are recently introduced models based on neurons accepting heterogeneous inputs (i.e. mixtures of numerical and non-numerical information possibly with missing data) with either crisp or imprecise character, which can be coupled with classical neurons. This paper compares the effectiveness of this kind of networks with time-delay and recurrent architectures that use classical neuron models and training algorithms in a signal forecasting problem, in the context of finding models of the central nervous system controllers.Peer ReviewedPostprint (author's final draft

Systematic analysis of primary sequence domain segments for the discrimination between class C GPCR subtypes

G-protein-coupled receptors (GPCRs) are a large and diverse super-family of eukaryotic cell membrane proteins that play an important physiological role as transmitters of extracellular signal. In this paper, we investigate Class C, a member of this super-family that has attracted much attention in pharmacology. The limited knowledge about the complete 3D crystal structure of Class C receptors makes necessary the use of their primary amino acid sequences for analytical purposes. Here, we provide a systematic analysis of distinct receptor sequence segments with regard to their ability to differentiate between seven class C GPCR subtypes according to their topological location in the extracellular, transmembrane, or intracellular domains. We build on the results from the previous research that provided preliminary evidence of the potential use of separated domains of complete class C GPCR sequences as the basis for subtype classification. The use of the extracellular N-terminus domain alone was shown to result in a minor decrease in subtype discrimination in comparison with the complete sequence, despite discarding much of the sequence information. In this paper, we describe the use of Support Vector Machine-based classification models to evaluate the subtype-discriminating capacity of the specific topological sequence segments.Peer ReviewedPostprint (author's final draft

Analysis of methods for playing human robot hide-and-seek in a simple real world urban environment

The hide-and-seek game has many interesting aspects for studying cognitive functions in robots and the interactions between mobile robots and humans. Some MOMDP (Mixed Observable Markovian Decision Processes) models and a heuristic-based method are proposed and evaluated as an automated seeker. MOMDPs are used because the hider's position is not always known (partially observable), and the seeker's position is fully observable. The MOMDP model is used in an o-line method for which two reward functions are tried. Because the time complexity of this model grows exponentially with the number of (partially observable) states, an on-line hierarchical MOMDP model was proposed to handle bigger maps. To reduce the states in the on-line method a robot centered segmentation is used. In addition to extensive simulations, games with a human hider and a real mobile robot as a seeker have been done in a simple urban environment.Peer ReviewedPostprint (author’s final draft

Distance-based kernels for dynamical movement primitives

In the Anchoring Problem actions and objects must be anchored to symbols; and movement primitives as DMPs seems a good option to describe actions. In the bottom-up approach to anchoring, the recognition of an action is done applying learning techniques as clustering. Although most work done about movement recognition with DMPs is focus on weights, we propose to use the shape-attractor function as feature vector. As several DMPs formulations exist, we have analyzed the two most known to check if using the shape-attractor instead of weights is feasible for both formulations. In addition, we propose to use distance-based kernels, as RBF and TrE, to classify DMPs in some predefined actions. Our experiments based on an existing dataset and using 1-NN and SVM techniques confirm that shape-attractor function is a better choice for movement recognition with DMPs.Peer ReviewedPostprint (author's final draft

Misclassification of class C G-protein-coupled receptors as a label noise problem

G-Protein-Coupled Receptors (GPCRs) are cell membrane proteins of relevance to biology and pharmacology. Their supervised classification in subtypes is hampered by label noise, which stems from a combination of expert knowledge limitations and lack of clear correspondence between labels and different representations of the protein primary sequences. In this brief study, we describe a systematic approach to the analysis of GPCR misclassifications using Support Vector Machines and use it to assist the discovery of database labeling quality problems and investigate the extent to which GPCR sequence physicochemical transformations reflect GPCR subtype labeling. The proposed approach could enable a filtering approach to the label noise problem.Peer ReviewedPostprint (published version