2009 IEEE 8th International Conference on Development and Learning最新文献

Learning to deal with objects 学习处理物品

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175508

M. Malfaz, M. Salichs

引用次数: 10

Learning object-specific grasp affordance densities 学习特定对象的把握能力密度

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175520

R. Detry, E. Baseski, M. Popovic, Y. Touati, N. Krüger, Oliver Kroemer, Jan Peters, J. Piater

{"title":"Learning object-specific grasp affordance densities","authors":"R. Detry, E. Baseski, M. Popovic, Y. Touati, N. Krüger, Oliver Kroemer, Jan Peters, J. Piater","doi":"10.1109/DEVLRN.2009.5175520","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175520","url":null,"abstract":"This paper addresses the issue of learning and representing object grasp affordances, i.e. object-gripper relative configurations that lead to successful grasps. The purpose of grasp affordances is to organize and store the whole knowledge that an agent has about the grasping of an object, in order to facilitate reasoning on grasping solutions and their achievability. The affordance representation consists in a continuous probability density function defined on the 6D gripper pose space - 3D position and orientation -, within an object-relative reference frame. Grasp affordances are initially learned from various sources, e.g. from imitation or from visual cues, leading to grasp hypothesis densities. Grasp densities are attached to a learned 3D visual object model, and pose estimation of the visual model allows a robotic agent to execute samples from a grasp hypothesis density under various object poses. Grasp outcomes are used to learn grasp empirical densities, i.e. grasps that have been confirmed through experience. We show the result of learning grasp hypothesis densities from both imitation and visual cues, and present grasp empirical densities learned from physical experience by a robot.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122808234","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: 86

Learning to Make Facial Expressions 学习做面部表情

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175536

Tingfan Wu, N. Butko, Paul Ruvulo, M. Bartlett, J. Movellan

引用次数: 53

People modify their tutoring behavior in robot-directed interaction for action learning 在机器人指导的互动中，人们为了行动学习而改变他们的辅导行为

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175516

Anna-Lisa Vollmer, K. Lohan, K. Fischer, Y. Nagai, K. Pitsch, J. Fritsch, K. Rohlfing, Britta Wredek

{"title":"People modify their tutoring behavior in robot-directed interaction for action learning","authors":"Anna-Lisa Vollmer, K. Lohan, K. Fischer, Y. Nagai, K. Pitsch, J. Fritsch, K. Rohlfing, Britta Wredek","doi":"10.1109/DEVLRN.2009.5175516","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175516","url":null,"abstract":"In developmental research, tutoring behavior has been identified as scaffolding infants' learning processes. It has been defined in terms of child-directed speech (Motherese), child-directed motion (Motionese), and contingency. In the field of developmental robotics, research often assumes that in human-robot interaction (HRI), robots are treated similar to infants, because their immature cognitive capabilities benefit from this behavior. However, according to our knowledge, it has barely been studied whether this is true and how exactly humans alter their behavior towards a robotic interaction partner. In this paper, we present results concerning the acceptance of a robotic agent in a social learning scenario obtained via comparison to adults and 8-11 months old infants in equal conditions. These results constitute an important empirical basis for making use of tutoring behavior in social robotics. In our study, we performed a detailed multimodal analysis of HRI in a tutoring situation using the example of a robot simulation equipped with a bottom-up saliency-based attention model [1]. Our results reveal significant differences in hand movement velocity, motion pauses, range of motion, and eye gaze suggesting that for example adults decrease their hand movement velocity in an Adult-Child Interaction (ACI), opposed to an Adult-Adult Interaction (AAI) and this decrease is even higher in the Adult-Robot Interaction (ARI). We also found important differences between ACI and ARI in how the behavior is modified over time as the interaction unfolds. These findings indicate the necessity of integrating top-down feedback structures into a bottom-up system for robots to be fully accepted as interaction partners.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129676341","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: 80

English- and Mandarin-speaking infants' discrimination of persons, actions, and objects in a dynamic event without audio inputs 英语和普通话婴儿在没有音频输入的动态事件中对人、动作和物体的辨别

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175539

Jie Chen, Cheri C. Y. Chan, Rachel Pulverman, T. Tardif, M. Casasola, Xiaobei Zheng, Xiangzhi Meng

{"title":"English- and Mandarin-speaking infants' discrimination of persons, actions, and objects in a dynamic event without audio inputs","authors":"Jie Chen, Cheri C. Y. Chan, Rachel Pulverman, T. Tardif, M. Casasola, Xiaobei Zheng, Xiangzhi Meng","doi":"10.1109/DEVLRN.2009.5175539","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175539","url":null,"abstract":"English learners typically have vocabularies that are dominated by nouns, whereas naturalistic observations, parental checklists and word mapping experiments reveal that verbs, primarily action words, are acquired early and in large quantities by learners of Mandarin Chinese. However, little research has examined whether English and Mandarin learners' early comprehension and production of nouns and verbs could be attributed to attentional patterns. In this study, we use a habituation paradigm to explore English- and Mandarin-learning infants' abilities to discriminate between Persons, Actions, and Objects presented without accompanying linguistic cues. The results revealed that English- and Mandarin-exposed 6–8 and 17–19 month-old infants showed similar patterns of attention. The younger infants showed significant increases to Person and Action changes only, whereas the older infants showed increased looking times to Person, Action, and Object changes, suggesting that the differential ease of acquiring verbs across languages might be attributed to cultural processes specific to word learning, rather than differences in early attentional preferences across cultures.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"168 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132171072","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: 2

Toward interactive learning of object categories by a robot: A case study with container and non-container objects 机器人对对象类别的交互式学习:容器和非容器对象的案例研究

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175537

Shane Griffith, J. Sinapov, Matthew Miller, A. Stoytchev

引用次数: 45

Pulse discrete cosine transform for saliency-based visual attention 基于显著性视觉注意的脉冲离散余弦变换

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175512

Ying-jia Yu, Bin Wang, Liming Zhang

引用次数: 37

Complex text processing by the temporal context machines 时间上下文机器的复杂文本处理

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175540

J. Weng, Qi Zhang, M. Chi, X. Xue

{"title":"Complex text processing by the temporal context machines","authors":"J. Weng, Qi Zhang, M. Chi, X. Xue","doi":"10.1109/DEVLRN.2009.5175540","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175540","url":null,"abstract":"It is largely unknown how the brain deals with time. Hidden Markov Model (HMM) has a probability based mechanism to deal with time warping, but no effective online method exists that can deal with general active temporal abstraction. By online, we mean that the agent must respond to spatial and temporal context immediately while a sensory stream flows in. By general active temporal context, we mean active (learned) attention selects desirable temporal subsets within a dynamic length of recent history (e.g., beyond bigrams and trigrams). By temporal abstraction, we mean using abstract meaning of context, supervised at the motor end, instead of iconic forms. This paper reports four experiments of complex text processing using the framework of a general-purpose developmental spatiotemporal agent called Temporal Context Machines (TCM), demonstrating its power of forming online, active, abstract, temporal contexts. We show that it perfectly (100%) solved a hypothetic problem called New Sentence Problem — after the TCM has learned synonyms under the corresponding contexts, it successfully recognized all possible new sentences (formed from the synonyms) that it has not learned. We show the TCM dealt with the Word Sense Disambiguation Problem where words are ambiguous without context. TCMs were also applied to the Part-of-Speech Problem, where the part of speech of the words in English language is identified according to contexts. In the fourth experiment, TCMs were employed to deal with the challenging Chunking Problem, in which subsequences of words are grouped and classified according to English linguistic units.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114279632","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: 15

An intrinsic reward for affordance exploration 对功能探索的内在奖励

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175542

Stephen Hart

引用次数: 16

Compact models of human reaching motions for robotic control in everyday manipulation tasks 在日常操作任务中的机器人控制的人类到达运动的紧凑模型

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175511

F. Stulp, Ingo Kresse, A. Maldonado, Federico Ruiz, Andreas Fedrizzi, M. Beetz

{"title":"Compact models of human reaching motions for robotic control in everyday manipulation tasks","authors":"F. Stulp, Ingo Kresse, A. Maldonado, Federico Ruiz, Andreas Fedrizzi, M. Beetz","doi":"10.1109/DEVLRN.2009.5175511","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175511","url":null,"abstract":"Autonomous personal robots are currently being equipped with hands and arms that have kinematic redundancy similar to those of humans. Humans exploit the redundancy in their motor system by optimizing secondary criteria. Tasks which are executed repeatedly lead to movements that are highly optimized over time, which leads to stereotypical [25] and pre-planned [15] motion patterns. This stereotypical motion can be modeled well with compact models, as has been shown for locomotion [1]. In this paper, we determine compact models for human reaching and obstacle avoidance in everyday manipulation tasks, and port these models to an articulated robot. We acquire compact models by analyzing human reaching data acquired with a magnetic motion tracker with dimensionality reduction and clustering methods. The stereotypical reaching trajectories so acquired are used to train a Dynamic Movement Primitive [12], which is executed on the robot. This enables the robot not only to follow these trajectories accurately, but also uses the compact model to predict and execute further human trajectories.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129811721","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: 13