212 research outputs found

    Active Robot Vision for Distant Object Change Detection: A Lightweight Training Simulator Inspired by Multi-Armed Bandits

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    In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their change states (no-change/appear/disappear). However, naively performing full journeys for every distant object requires huge sense/plan/action costs, proportional to the number of objects and the robot-to-object distance. To address this issue, we explore a new map-based active vision problem in this work: ``Which journey should the robot select next?" However, the feasibility of the active vision framework remains unclear; Since distant objects are only uncertainly recognized, it is unclear whether they can provide sufficient cues for action planning. This work presents an efficient simulator for feasibility testing, to accelerate the early-stage R&D cycles (e.g., prototyping, training, testing, and evaluation). The proposed simulator is designed to identify the degree of difficulty that a robot vision system (sensors/recognizers/planners/actuators) would face when applied to a given environment (workspace/objects). Notably, it requires only one real-world journey experience per distant object to function, making it suitable for an efficient R&D cycle. Another contribution of this work is to present a new lightweight planner inspired by the traditional multi-armed bandit problem. Specifically, we build a lightweight map-based planner on top of the mapless planner, which constitutes a hierarchical action planner. We verified the effectiveness of the proposed framework using a semantically non-trivial scenario ``sofa as bookshelf".Comment: 7 pages, 7 figures, technical repor

    FLOW PAST DIMPLED SURFACES

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    Ph.DDOCTOR OF PHILOSOPH

    Similarity of a Wall Jet with Uniform External Stream and Downstream Suction

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    Master'sMASTER OF ENGINEERIN

    Postretrieval Relearning Strengthens Hippocampal Memories via Destabilization and Reconsolidation.

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    Memory reconsolidation is hypothesized to be a mechanism by which memories can be updated with new information. Such updating has previously been shown to weaken memory expression or change the nature of the memory. Here we demonstrate that retrieval-induced memory destabilization also allows that memory to be strengthened by additional learning. We show that for rodent contextual fear memories, this retrieval conditioning effect is observed only when conditioning occurs within a specific temporal window opened by retrieval. Moreover, it necessitates hippocampal protein degradation at the proteasome and engages hippocampal Zif268 protein expression, both of which are established mechanisms of memory destabilization-reconsolidation. We also demonstrate a conceptually analogous pattern of results in human visual paired-associate learning. Retrieval-relearning strengthens memory performance, again only when relearning occurs within the temporal window of memory reconsolidation. These findings link retrieval-mediated learning in humans to the reconsolidation literature, and have potential implications both for the understanding of endogenous memory gains and strategies to boost weakly learned memories

    Apathy after stroke: Diagnosis, mechanisms, consequences, and treatment

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    Apathy is a reduction in goal-directed activity in the cognitive, behavioral, emotional, or social domains of a patient’s life and occurs in one out of three patients after stroke. Despite this, apathy is clinically under-recognized and poorly understood. This overview provides a contemporary introduction to apathy in stroke for researchers and practitioners, covering topics including diagnosis, neurobiological mechanisms, associated consequences, and potential treatments for apathy. Apathy is often misdiagnosed as other post-stroke conditions such as depression. Accurate differential diagnosis of apathy, which manifests as reductions in initiative, and depression, which manifests as negative emotionality, is important as it informs prognosis. Research on the neurobiology of apathy suggests that there are few consistent associations between stroke lesion location and the development of apathy. These may be resolved by adopting a network neuroscience approach, which models apathy as a pathology arising from structural or functional damage to brain networks underlying motivated behavior. Importantly, networks can be affected by physiological changes related to stroke, including the acute infarct but also diaschisis and neurodegeneration. Aside from neurobiological changes, apathy is also associated with other negative outcome measures such as functional disability, cognitive impairment, and emotional distress, suggesting that apathy is indicative of a worse prognosis following stroke. Unfortunately, high-quality trials aimed at treating apathy are scarce. Antidepressants may have limited effects on apathy. Acetylcholine and dopamine pharmacotherapy, behavioral interventions, and transcranial magnetic stimulation may be more promising avenues for treatment

    Apathy, but not depression, predicts all-cause dementia in cerebral small vessel disease

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    Objective: To determine whether apathy or depression predicts all-cause dementia in small vessel disease (SVD) patients. Methods: Analyses used two prospective cohort studies of SVD: St. George’s Cognition and Neuroimaging in Stroke (SCANS; n=121) and Radboud University Nijmegen Diffusion Tensor and Magnetic Resonance Cohort (RUN DMC; n=352). Multivariate Cox regressions were used to predict dementia using baseline apathy and depression scores in both datasets. Change in apathy and depression was used to predict dementia in a subset of 104 participants with longitudinal data from SCANS. All models were controlled for age, education and cognitive function. Results: Baseline apathy scores predicted dementia in SCANS (HR 1.49, 95% CI 1.05 to 2.11, p=0.024) and RUN DMC (HR 1.05, 95% CI 1.01 to 1.09, p=0.007). Increasing apathy was associated with dementia in SCANS (HR 1.53, 95% CI 1.08 to 2.17, p=0.017). In contrast, baseline depression and change in depression did not predict dementia in either dataset. Including apathy in predictive models of dementia improved model fit. Conclusions: Apathy, but not depression, may be a prodromal symptom of dementia in SVD, and may be useful in identifying at-risk individuals
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