A developmental approach to robotic pointing via human-robot interaction

The ability of pointing is recognised as an essential skill of a robot in its communication and social interaction. This paper introduces a developmental learning approach to robotic pointing, by exploiting the interactions between a human and a robot. The approach is inspired through observing the process of human infant development. It works by first applying a reinforcement learning algorithm to guide the robot to create attempt movements towards a salient object that is out of the robot's initial reachable space. Through such movements, a human demonstrator is able to understand the robot desires to touch the target and consequently, to assist the robot to eventually reach the object successfully. The human-robot interaction helps establish the understanding of pointing gestures in the perception of both the human and the robot. From this, the robot can collect the successful pointing gestures in an effort to learn how to interact with humans. Developmental constraints are utilised to drive the entire learning procedure. The work is supported by experimental evaluation, demonstrating that the proposed approach can lead the robot to gradually gain the desirable pointing ability. It also allows that the resulting robot system exhibits similar developmental progress and features as with human infants

<i>ortho-</i>Directing Chromium Arene Complexes as Efficient Mediators for Enantiospecific C(sp²)–C(sp³) Cross-Coupling Reactions

<p>Supplemental material, supplementary_table_6 for HDAC3-mediated silencing of miR-451 decreases chemosensitivity of patients with metastatic castration-resistant prostate cancer by targeting NEDD9 by Dong-qin Chen, Chen Yu, Xue-feng Zhang, Zhong-fang Liu, Rui Wang, Min Jiang, Hao Chen, Feng Yan, Min Tao, Long-bang Chen, Hong Zhu and Ji-feng Feng in Therapeutic Advances in Medical Oncology</p

Additional file 9: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Table S6. The duplicated gene pairs in the 51 plant genomes. (TIF 21703 kb

Additional file 8: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Table S5. Molecular evolutionary analysis of the MAPKK genes in different motif. (TIF 22709 kb

Additional file 4: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Table S3. Table representing molecular mass (in kDa) and isoelectric point of different MAPKK genes from 51 plant species identified during this study. (XLSX 53 kb

Additional file 14: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Fig. S7. Syntenic proofs of Group E MAPKKs in monocots. (DOC 51 kb

Additional file 17: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Fig. S10. Maximum Likelihood phylogenetic trees of plant group D MAPKKs. The red circle represents duplication events. (PDF 148 kb

Additional file 1: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Table S1. Table showing nomenclature gene name, locus ID, detailed genomic information and subcellular localization of plant MAPKKs. (PDF 1109 kb

Additional file 7: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Fig. S3. Weblogos represent the docking site (D-site) of each group. The stars indicate residues of functional or structural importance. (TIF 17233 kb

Additional file 21: of Comparative analysis of plant MKK gene family reveals novel expansion mechanism of the members and sheds new light on functional conservation

Table S8. A lists of the RT-qPCR primers for the MAPKK genes of B. distachyon. (XLSX 16 kb