Imitation and Mirror Systems in Robots through Deep Modality Blending Networks

Learning to interact with the environment not only empowers the agent with manipulation capability but also generates information to facilitate building of action understanding and imitation capabilities. This seems to be a strategy adopted by biological systems, in particular primates, as evidenced by the existence of mirror neurons that seem to be involved in multi-modal action understanding. How to benefit from the interaction experience of the robots to enable understanding actions and goals of other agents is still a challenging question. In this study, we propose a novel method, deep modality blending networks (DMBN), that creates a common latent space from multi-modal experience of a robot by blending multi-modal signals with a stochastic weighting mechanism. We show for the first time that deep learning, when combined with a novel modality blending scheme, can facilitate action recognition and produce structures to sustain anatomical and effect-based imitation capabilities. Our proposed system, can be conditioned on any desired sensory/motor value at any time-step, and can generate a complete multi-modal trajectory consistent with the desired conditioning in parallel avoiding accumulation of prediction errors. We further showed that given desired images from different perspectives, i.e. images generated by the observation of other robots placed on different sides of the table, our system could generate image and joint angle sequences that correspond to either anatomical or effect based imitation behavior. Overall, the proposed DMBN architecture not only serves as a computational model for sustaining mirror neuron-like capabilities, but also stands as a powerful machine learning architecture for high-dimensional multi-modal temporal data with robust retrieval capabilities operating with partial information in one or multiple modalities

Embodied Gesture Processing: Motor-Based Integration of Perception and Action in Social Artificial Agents

A close coupling of perception and action processes is assumed to play an important role in basic capabilities of social interaction, such as guiding attention and observation of others’ behavior, coordinating the form and functions of behavior, or grounding the understanding of others’ behavior in one’s own experiences. In the attempt to endow artificial embodied agents with similar abilities, we present a probabilistic model for the integration of perception and generation of hand-arm gestures via a hierarchy of shared motor representations, allowing for combined bottom-up and top-down processing. Results from human-agent interactions are reported demonstrating the model’s performance in learning, observation, imitation, and generation of gestures

Text Line Segmentation of Historical Documents: a Survey

There is a huge amount of historical documents in libraries and in various National Archives that have not been exploited electronically. Although automatic reading of complete pages remains, in most cases, a long-term objective, tasks such as word spotting, text/image alignment, authentication and extraction of specific fields are in use today. For all these tasks, a major step is document segmentation into text lines. Because of the low quality and the complexity of these documents (background noise, artifacts due to aging, interfering lines),automatic text line segmentation remains an open research field. The objective of this paper is to present a survey of existing methods, developed during the last decade, and dedicated to documents of historical interest.Comment: 25 pages, submitted version, To appear in International Journal on Document Analysis and Recognition, On line version available at http://www.springerlink.com/content/k2813176280456k3

Recognizing Speech in a Novel Accent: The Motor Theory of Speech Perception Reframed

The motor theory of speech perception holds that we perceive the speech of another in terms of a motor representation of that speech. However, when we have learned to recognize a foreign accent, it seems plausible that recognition of a word rarely involves reconstruction of the speech gestures of the speaker rather than the listener. To better assess the motor theory and this observation, we proceed in three stages. Part 1 places the motor theory of speech perception in a larger framework based on our earlier models of the adaptive formation of mirror neurons for grasping, and for viewing extensions of that mirror system as part of a larger system for neuro-linguistic processing, augmented by the present consideration of recognizing speech in a novel accent. Part 2 then offers a novel computational model of how a listener comes to understand the speech of someone speaking the listener's native language with a foreign accent. The core tenet of the model is that the listener uses hypotheses about the word the speaker is currently uttering to update probabilities linking the sound produced by the speaker to phonemes in the native language repertoire of the listener. This, on average, improves the recognition of later words. This model is neutral regarding the nature of the representations it uses (motor vs. auditory). It serve as a reference point for the discussion in Part 3, which proposes a dual-stream neuro-linguistic architecture to revisits claims for and against the motor theory of speech perception and the relevance of mirror neurons, and extracts some implications for the reframing of the motor theory

Symbol Emergence in Cognitive Developmental Systems: a Survey

OAPA Humans use signs, e.g., sentences in a spoken language, for communication and thought. Hence, symbol systems like language are crucial for our communication with other agents and adaptation to our real-world environment. The symbol systems we use in our human society adaptively and dynamically change over time. In the context of artificial intelligence (AI) and cognitive systems, the symbol grounding problem has been regarded as one of the central problems related to symbols. However, the symbol grounding problem was originally posed to connect symbolic AI and sensorimotor information and did not consider many interdisciplinary phenomena in human communication and dynamic symbol systems in our society, which semiotics considered. In this paper, we focus on the symbol emergence problem, addressing not only cognitive dynamics but also the dynamics of symbol systems in society, rather than the symbol grounding problem. We first introduce the notion of a symbol in semiotics from the humanities, to leave the very narrow idea of symbols in symbolic AI. Furthermore, over the years, it became more and more clear that symbol emergence has to be regarded as a multifaceted problem. Therefore, secondly, we review the history of the symbol emergence problem in different fields, including both biological and artificial systems, showing their mutual relations. We summarize the discussion and provide an integrative viewpoint and comprehensive overview of symbol emergence in cognitive systems. Additionally, we describe the challenges facing the creation of cognitive systems that can be part of symbol emergence systems

Modeling the Development of Goal-Specificity in Mirror Neurons

Neurophysiological studies have shown that parietal mirror neurons encode not only actions but also the goal of these actions. Although some mirror neurons will fire whenever a certain action is perceived (goal-independently), most will only fire if the motion is perceived as part of an action with a specific goal. This result is important for the action-understanding hypothesis as it provides a potential neurological basis for such a cognitive ability. It is also relevant for the design of artificial cognitive systems, in particular robotic systems that rely on computational models of the mirror system in their interaction with other agents. Yet, to date, no computational model has explicitly addressed the mechanisms that give rise to both goal-specific and goal-independent parietal mirror neurons. In the present paper, we present a computational model based on a self-organizing map, which receives artificial inputs representing information about both the observed or executed actions and the context in which they were executed. We show that the map develops a biologically plausible organization in which goal-specific mirror neurons emerge. We further show that the fundamental cause for both the appearance and the number of goal-specific neurons can be found in geometric relationships between the different inputs to the map. The results are important to the action-understanding hypothesis as they provide a mechanism for the emergence of goal-specific parietal mirror neurons and lead to a number of predictions: (1) Learning of new goals may mostly reassign existing goal-specific neurons rather than recruit new ones; (2) input differences between executed and observed actions can explain observed corresponding differences in the number of goal-specific neurons; and (3) the percentage of goal-specific neurons may differ between motion primitives

Effect of Microwave Frying on Acrylamide Generation, Mass Transfer, Color, and Texture in French Fries

[EN] The objective of this work was to evaluate the effect of microwave power on acrylamide generation, as well as moisture and oil fluxes and quality attributes of microwave-fried potatoes. Concretely, 25 g of potato strips, in 250 mL of fresh oil (at room temperature), were subjected to three different microwave powers (315, 430, and 600 W) in a conventional microwave oven. Microwave frying resulted in an acrylamide reduction ranged from 37 to 83% compared to deep-oil frying. Microwave-fried French fries presented lower moisture and higher fat content than deep-oil fried potatoes. Concretely, microwave-fried potatoes presented values of moisture and texture more similar to potato chips than French fries, nonetheless with lower fat levels (less than 20 g/100 g wb) and acrylamide content (lower than 100 ¿g/kg wb) at the reference time. This study presents an alternative way of frying to address the production of healthier potato chips.The authors would like to thank the Universitat Politecnica de Valencia for the PhD scholarship given to Mariola Sansano Tomas.Sansano, M.; De Los Reyes Cánovas, R.; Andrés Grau, AM.; Heredia Gutiérrez, AB. (2018). Effect of Microwave Frying on Acrylamide Generation, Mass Transfer, Color, and Texture in French Fries. Food and Bioprocess Technology. 11(10):1934-1939. doi:10.1007/s11947-018-2144-zS193419391110AACC. (1995). Approved methods of the American association of cereal chemists (9th ed.). St. Paul: The Association.Adedeji, A. A., Ngadi, M. O., & Raghavan, G. S. V. (2009). Kinetics of mass transfer in microwave precooked and deep-fat fried chicken nuggets. Journal of Food Engineering, 91(1), 146–153.Ahrné, L., Andersson, C.-G., Floberg, P., Rosén, J., & Lingnert, H. (2007). Effect of crust temperature and water content on acrylamide formation during baking of white bread: steam and falling temperature baking. LWT-Food Science and Technology, 40(10), 1708–1715.Amrein, T. M., Limacher, A., Conde-Petit, B., Amadò, R., & Escher, F. (2006). Influence of thermal processing conditions on acrylamide generation and Browning in a potato model system. Journal of Agricultural and Food Chemistry, 54(16), 5910–5916.Andrés, A., Arguelles, Á., Castelló, M. L., & Heredia, A. (2013). Mass transfer and volume changes in French fries during air frying. Food and Bioprocess Technology, 6(8), 1917–1924.Barutcu, I., Sahin, S., & Sumnu, G. (2009). Acrylamide formation in different batter formulations during microwave frying. LWT - Food Science and Technology, 42(1), 17–22.Belgin Erdoǧdu, S., Palazoǧlu, T. K., Gökmen, V., Şenyuva, H. Z., & Ekiz, H. İ. (2007). Reduction of acrylamide formation in French fries by microwave pre-cooking of potato strips. Journal of the Science of Food and Agriculture, 87(1), 133–137.Biedermann, M., Noti, A., Biedermann-Brem, S., Mozzetti, V., & GROB, K. (2002). Experiments on acrylamide formation and possibilities to decrease the potential of acrylamide formation in potatoes. Mitteilungen aus Lebensmitteluntersuchung und Hygiene, 93(6), 668–687.Bråthen, E., & Knutsen, S. H. (2005). Effect of temperature and time on the formation of acrylamide in starch-based and cereal model systems, flat breads and bread. Food Chemistry, 92(4), 693–700.Buffler, C. R. (1993). Microwave cooking and processing: Engineering fundamentals for the food scientist. (A. Books, Ed.). New York: Van Nostrand Reinhold.Datta, A. K. (1990). Heat and mass transfer in the microwave processing of food. Chemical Engineering Progress, 86(6), 47–53.Datta, A. K. (2001). Handbook of microwave technology for food application. CRC Press.De los Reyes, R., Heredia, A., Fito, P., De los Reyes, E., & Andrés, A. (2007). Dielectric spectroscopy of osmotic solutions and osmotically dehydrated tomato products. Journal of Food Engineering, 80(4), 1218–1225. 2.Granda, C., & Moreira, R. G. (2005). Kinetics of acrylamide formation during traditional and vacuum frying of potato chips. Journal of Food Process Engineering, 28(5), 478–493.Lizhi, H., Toyoda, K., & Ihara, I. (2008). Dielectric properties of edible oils and fatty acids as a function of frequency, temperature, moisture and composition. Journal of Food Engineering, 88(2), 151–158.Oztop, M. H., Sahin, S., & Sumnu, G. (2007). Optimization of microwave frying of potato slices by using Taguchi technique. Journal of Food Engineering, 79(1), 83–91.Parikh, A., & Takhar, P. S. (2016). Comparison of microwave and conventional frying on quality attributes and fat content of potatoes. Journal of Food Science, 81(11), E2743–E2755.Pedreschi, F., & Moyano, P. (2005). Oil uptake and texture development in fried potato slices. Journal of Food Engineering, 70(4), 557–563.Sahin, S., Sumnu, G., & Oztop, M. H. (2007). Effect of osmotic pretreatment and microwave frying on acrylamide formation in potato strips. Journal of the Science of Food and Agriculture, 87(15), 2830–2836. https://doi.org/10.1002/jsfa.3034 .Sansano, M., Juan-Borrás, M., Escriche, I., Andrés, A., & Heredia, A. (2015). Effect of pretreatments and air-frying, a novel technology, on acrylamide generation in fried potatoes. Journal of Food Science, 80(5), 1120–1128.Sansano, M., Heredia, A., Peinado, I., & Andrés, A. (2017). Dietary acrylamide: What happens during digestion. Food Chemistry, 237, 58–64.Schiffmann, R. (2017). 7 - Microwave-assisted frying. In The microwave processing of foods (2nd edn, pp. 142–151). Sawston: Woodhead Publishing.Tang, J., Feng, H., & Lau, M. (2002). Microwave heating in food processing. In X.Young, J. Tang, C. Zhang, & W. Xin (Eds.), Advances in Agricultural Engineering (pp. 1–44). New York: Scientific Press.Tareke, E., Rydberg, P., Karlsson, P., Eriksson, S., & Törnqvist, M. (2002). Analysis of acrylamide, a carcinogen formed in heated foodstuffs. Journal of Agricultural and Food Chemistry, 50(17), 4998–5006.Taubert, D., Harlfinger, S., Henkes, L., Berkels, R., & Schömig, E. (2004). Influence of processing parameters on acrylamide formation during frying of potatoes. Journal of Agricultural and Food Chemistry, 52(9), 2735–2739.Venkatesh, M. S., & Raghavan, G. S. V. (2004). An overview of microwave processing and dielectric properties of agri-food materials. Biosystems Engineering, 88(1), 1–18