2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)最新文献_第2页

Learning stable pushing locations 学习稳定的推动位置

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652539

Tucker Hermans, Fuxin Li, James M. Rehg, A. Bobick

引用次数: 20

Reinforcement learning with state-dependent discount factor 状态相关折现因子的强化学习

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652533

N. Yoshida, E. Uchibe, K. Doya

引用次数: 19

Autonomous learning of domain models using two-dimensional probability distributions 基于二维概率分布的领域模型自主学习

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652524

Witold Sowiski, Frank Guerin

引用次数: 0

Learning versatile sensorimotor coordination with goal babbling and neural associative dynamics 学习多用途的感觉运动协调与目标咿呀学语和神经联想动力学

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652566

R. F. Reinhart, Matthias Rolf

引用次数: 13

Do beliefs about a robot's capabilities influence alignment to its actions? 对机器人能力的信念会影响其行动的一致性吗?

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652521

Anna-Lisa Vollmer, B. Wrede, K. Rohlfing, A. Cangelosi

{"title":"Do beliefs about a robot's capabilities influence alignment to its actions?","authors":"Anna-Lisa Vollmer, B. Wrede, K. Rohlfing, A. Cangelosi","doi":"10.1109/DEVLRN.2013.6652521","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652521","url":null,"abstract":"Interlocutors in a dialog align on many aspects of behavior (word choice, speech rate, syntactic structure, gestures, facial expressions, etc.). Such alignment has been proposed to be the basis for communicating successfully. We believe alignment could be beneficial for smooth human-robot interaction and facilitate robot action learning from demonstration. Recent research put forward a mediated communicative design account of alignment according to which interlocutors align stronger when they believe it will lead to communicative success. Branigan et al. showed that when interacting with an artificial system, participants aligned their lexical choices more to an artificial system they believed to be basic than to one they believed to be advanced. Our work extends these results in two ways: First, instead of an artificial computer dialog system, participants interact with a humanoid robot, the iCub robot. Second, instead of lexical choice, our work investigates alignment in the domain of manual actions. In an action demonstration and matching game, we examine the extent to which participants who believe that they are playing with a basic version or an advanced version of the iCub robot adapt the way they execute actions to what their robot partner has previously shown to them. Our results confirm that alignment also takes place in action demonstration. We were not able to replicate Branigan et al.'s results in general in this setup, but in line with their findings, participants with a low questionnaire score on neuroticism and participants who are familiar with robots aligned their actions more to a robot they believed to be basic than to one they believed to be advanced.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123990138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 17

Autonomous learning of active multi-scale binocular vision 主动多尺度双目视觉的自主学习

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652541

L. Lonini, Yu Zhao, Pramod Chandrashekhariah, Bertram E. Shi, J. Triesch

引用次数: 26

Towards understanding the origin of infant directed speech: A vocal robot with infant-like articulation 了解婴儿定向言语的起源:一个具有类似婴儿发音的发声机器人

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652562

Yuki Sasamoto, Naoto Nishijima, M. Asada

引用次数: 6

Structural bootstrapping at the sensorimotor level for the fast acquisition of action knowledge for cognitive robots 认知机器人快速获取动作知识的感觉运动水平结构自举

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652537

E. Aksoy, M. Tamosiunaite, Rok Vuga, A. Ude, C. Geib, Mark Steedman, F. Wörgötter

{"title":"Structural bootstrapping at the sensorimotor level for the fast acquisition of action knowledge for cognitive robots","authors":"E. Aksoy, M. Tamosiunaite, Rok Vuga, A. Ude, C. Geib, Mark Steedman, F. Wörgötter","doi":"10.1109/DEVLRN.2013.6652537","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652537","url":null,"abstract":"Autonomous robots are faced with the problem of encoding complex actions (e.g. complete manipulations) in a generic and generalizable way. Recently we had introduced the Semantic Event Chains (SECs) as a new representation which can be directly computed from a stream of 3D images and is based on changes in the relationships between objects involved in a manipulation. Here we show that the SEC framework can be extended (called “extended SEC”) with action-related information and used to achieve and encode two important cognitive properties relevant for advanced autonomous robots: The extended SEC enables us to determine whether an action representation (1) needs to be newly created and stored in its entirety in the robot's memory or (2) whether one of the already known and memorized action representations just needs to be refined. In human cognition these two processes (1 and 2) are known as accommodation and assimilation. Thus, here we show that the extended SEC representation can be used to realize these processes originally defined by Piaget for the first time in a robotic application. This is of fundamental importance for any cognitive agent as it allows categorizing observed actions in new versus known ones, storing only the relevant aspects.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122746347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 17

Temporal emphasis for goal extraction in task demonstration to a humanoid robot by naive users 幼稚用户对仿人机器人任务演示中目标提取的时间重点

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652536

Konstantinos Theofilis, K. Lohan, Chrystopher L. Nehaniv, K. Dautenhahn, B. Wrede

{"title":"Temporal emphasis for goal extraction in task demonstration to a humanoid robot by naive users","authors":"Konstantinos Theofilis, K. Lohan, Chrystopher L. Nehaniv, K. Dautenhahn, B. Wrede","doi":"10.1109/DEVLRN.2013.6652536","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652536","url":null,"abstract":"Goal extraction in learning by demonstration is a complex problem. A novel approach, inspired by developmental psychology and focused on use in experiments with naive users, is presented in this paper. Participants were presenting a simple task, how to stack three boxes, to the humanoid robot iCub. The stationary states of the task - 1 box, 2 boxes stacked, 3 boxes stacked - were defined and the time span of each state was measured. Analysis of the results showed that there is a significant result that users tend to keep the boxes stationary longer upon completion of the end goal than upon completion of the sub-goals. A simple and straightforward learning algorithm was then used on the demonstration data, using only the time spans of the stationary states. The learning algorithm successfully detected the end goal. These temporal differences, functioning as emphasis, could be used as a complementary mechanism for goal extraction in imitation learning. Furthermore, it is suggested that since a simple, straightforward learning algorithm can use these pauses to recognise the goal state, humans may also be able to use this pause as a complementary mechanism for recognising the goal state of a task.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115062060","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Adaptive reachability assessment in the humanoid robot iCub 仿人机器人iCub的自适应可达性评估

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652546

Salomón Ramírez-Contla, D. Marocco

引用次数: 0