Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus

In this paper, we present a thorough integration of qualitative representations and reasoning for positional information for domestic service robotics domains into our high-level robot control. In domestic settings for service robots like in the RoboCup@Home competitions, complex tasks such as “get the cup from the kitchen and bring it to the living room” or “find me this and that object in the apartment” have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as “near” or “far”, the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy set-based qualitative concepts. We now extend our framework to positional fuzzy fluents with an associated positional context called frames. With that and our underlying reasoning mechanism we can transform qualitative positional information from one context to another to account for changes in context such as the point of view or the scale. We demonstrate how qualitative positional fluents based on a fuzzy set semantics can be deployed in domestic domains and showcase how reasoning with these qualitative notions can seamlessly be applied to a fetch-and-carry task in a RoboCup@Home scenario.     

Continuous visible k nearest neighbor query on moving objects

A visible k nearest neighbor (Vk NN) query retrieves k objects that are visible and nearest to the query object, where “visible” means that there is no obstacle between an object and the query object. Existing studies on the Vk NN query have focused on static data objects. In this paper we investigate how to process the query on moving objects continuously. We propose an effective filtering-and-refinement framework for evaluating this type of queries. We exploit spatial proximity and visibility properties between the query object and data objects to prune search space under this framework. A detailed cost analysis and a comprehensive experimental study are conducted on the proposed framework. The results validate the effectiveness of the pruning techniques and verify the efficiency of the proposed framework. The proposed framework outperforms a straightforward solution by an order of magnitude in terms of both communication and computation costs.     

Real-time navigation using randomized kinodynamic planning with arrival time field

In this paper, we propose a novel path planning algorithm for a mobile robot in dynamic and cluttered environments with kinodynamic constraints. We compute the arrival time field as a bias which gives larger weights for shorter and safer paths toward a goal. We then implement a randomized path search guided by the arrival time field for building the path considering kinematic and dynamic (kinodynamic) constraints of an actual robot. We also consider path quality by adding heuristic constraints on the randomized path search, such as reducing unstable movements of the robot by using a heading criterion. The path will be extracted by backtracking the nodes which reach the goal area to the root of the tree generated by the randomized search, and the motion from the very first node will be sent to the robot controller. We provide a brief comparison between our algorithm and other existing algorithms. Simulation and experimental results prove that our algorithm is fast and reliable to be implemented on the real robot and is able to handle kinodynamic problems effectively.     

Telenoid android robot as an embodied perceptual social regulation medium engaging natural human–humanoid interaction

The present paper aims to validate our research on human–humanoid interaction (HHI) using the minimalist humanoid robot Telenoid. We conducted the human–robot interaction test with 142 young people who had no prior interaction experience with this robot. The main goal is the analysis of the two social dimensions (“Perception” and “Believability”) useful for increasing the natural behaviour between users and Telenoid. We administered our custom questionnaire to human subjects in association with a well defined experimental setting (“ordinary and goal-guided task”). A thorough analysis of the questionnaires has been carried out and reliability and internal consistency in correlation between the multiple items has been calculated. Our experimental results show that the perceptual behaviour and believability, as implicit social competences, could improve the meaningfulness and the natural-like sense of human–humanoid interaction in everyday life task-driven activities. Telenoid is perceived as an autonomous cooperative agent for a shared environment by human beings.     

Denotational and operational semantics for prolog

The semantics of PROLOG programs is usually given in terms of the model theory of first-order logic. However, this does not adequately characterizethe computational behavior of PROLOG programs. PROLOG implementations typically use a sequential evaluation strategy based on the textual order of clauses and literals in a program, as well as nonlogical features like cut. In this work we develop a denotational semantics that captures thecomputational behavior of PROLOG. We present a semantics for “cut-free” PROLOG, which is then extended to PROLOG with cut. For each case we develop a congruence proof that relates the semantics to a standard operational interpreter. As an application of our denotational semantics, we show the correctness of some standard “folk” theorems regarding transformations on PROLOG programs.     

Coupled dynamical system based arm–hand grasping model for learning fast adaptation strategies

Performing manipulation tasks interactively in real environments requires a high degree of accuracy and stability. At the same time, when one cannot assume a fully deterministic and static environment, one must endow the robot with the ability to react rapidly to sudden changes in the environment. These considerations make the task of reach and grasp difficult to deal with. We follow a Programming by Demonstration (PbD) approach to the problem and take inspiration from the way humans adapt their reach and grasp motions when perturbed. This is in sharp contrast to previous work in PbD that uses unperturbed motions for training the system and then applies perturbation solely during the testing phase. In this work, we record the kinematics of arm and fingers of human subjects during unperturbed and perturbed reach and grasp motions. In the perturbed demonstrations, the target’s location is changed suddenly after the onset of the motion. Data show a strong coupling between the hand transport and finger motions. We hypothesize that this coupling enables the subject to seamlessly and rapidly adapt the finger motion in coordination with the hand posture. To endow our robot with this competence, we develop a coupled dynamical system based controller, whereby two dynamical systems driving the hand and finger motions are coupled. This offers a compact encoding for reach-to-grasp motions that ensures fast adaptation with zero latency for re-planning. We show in simulation and on the real iCub robot that this coupling ensures smooth and “human-like” motions. We demonstrate the performance of our model under spatial, temporal and grasp type perturbations which show that reaching the target with coordinated hand–arm motion is necessary for the success of the task.     

Centroidal dynamics of a humanoid robot

The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As the location of its effective total mass, and consequently, the point of resultant action of gravity, the CoM is also the point where the robot’s aggregate linear momentum and angular momentum are naturally defined. The overarching purpose of this paper is to refocus our attention to centroidal dynamics: the dynamics of a humanoid robot projected at its CoM. In this paper we specifically study the properties, structure and computation schemes for the centroidal momentum matrix (CMM), which projects the generalized velocities of a humanoid robot to its spatial centroidal momentum. Through a transformation diagram we graphically show the relationship between this matrix and the well-known joint-space inertia matrix. We also introduce the new concept of “average spatial velocity” of the humanoid that encompasses both linear and angular components and results in a novel decomposition of the kinetic energy. Further, we develop a very efficient $O(N)$ O ( N ) algorithm, expressed in a compact form using spatial notation, for computing the CMM, centroidal momentum, centroidal inertia, and average spatial velocity. Finally, as a practical use of centroidal dynamics we show that a momentum-based balance controller that directly employs the CMM can significantly reduce unnecessary trunk bending during balance maintenance against external disturbance.     

Object-stack: An object-oriented approach for top-k keyword querying over fuzzy XML

Keyword search is the most popular technique of searching information from XML (eXtensible markup language) document. It enables users to easily access XML data without learning the structure query language or studying the complex data schemas. Existing traditional keyword query methods are mainly based on LCA (lowest common ancestor) semantics, in which the returned results match all keywords at the granularity of elements. In many practical applications, information is often uncertain and vague. As a result, how to identify useful information from fuzzy data is becoming an important research topic. In this paper, we focus on the issue of keyword querying on fuzzy XML data at the granularity of objects. By introducing the concept of “object tree”, we propose the query semantics for keyword query at object-level. We find the minimum whole matching result object trees which contain all keywords and the partial matching result object trees which contain partial keywords, and return the root nodes of these result object trees as query results. For effectively and accurately identifying the top-K answers with the highest scores, we propose a score mechanism with the consideration of tf*idf document relevance, users’ preference and possibilities of results. We propose a stack-based algorithm named object-stack to obtain the top-K answers with the highest scores. Experimental results show that the object-stack algorithm outperforms the traditional XML keyword query algorithms significantly, and it can get high quality of query results with high search efficiency on the fuzzy XML document.     

TopPI: An efficient algorithm for item-centric mining

In this paper, we introduce item-centric mining, a new semantics for mining long-tailed datasets. Our algorithm, TopPI, finds for each item its top-k most frequent closed itemsets. While most mining algorithms focus on the globally most frequent itemsets, TopPI guarantees that each item is represented in the results, regardless of its frequency in the database.TopPI allows users to efficiently explore Web data, answering questions such as “what are the k most common sets of songs downloaded together with the ones of my favorite artist?”. When processing retail data consisting of 55 million supermarket receipts, TopPI finds the itemset “milk, puff pastry” that appears 10,315 times, but also “frangipane, puff pastry” and “nori seaweed, wasabi, sushi rice” that occur only 1120 and 163 times, respectively. Our experiments with analysts from the marketing department of our retail partner demonstrate that item-centric mining discover valuable itemsets. We also show that TopPI can serve as a building-block to approximate complex itemset ranking measures such as the p-value.Thanks to efficient enumeration and pruning strategies, TopPI avoids the search space explosion induced by mining low support itemsets. We show how TopPI can be parallelized on multi-cores and distributed on Hadoop clusters. Our experiments on datasets with different characteristics show the superiority of TopPI when compared to standard top-k solutions, and to Parallel FP-Growth, its closest competitor.     

Learning search heuristics for finding objects in structured environments

We consider the problem of efficiently finding an object with a mobile robot in an initially unknown, structured environment. The overall goal is to allow the robot to improve upon a standard exploration technique by utilizing background knowledge from previously seen, similar environments. We present two conceptually different approaches. Whereas the first method, which is the focus of this article, is a reactive search technique that decides where to search next only based on local information about the objects in the robot’s vicinity, the second algorithm is a more global and inference-based approach that explicitly reasons about the location of the target object given all observations made so far. While the model underlying the first approach can be learned from data of optimal search paths, we learn the model of the second method from object arrangements of example environments. Our application scenario is the search for a product in a supermarket. We present simulation and real-world experiments in which we compare our strategies to alternative methods and also to the performance of humans.     

Cooperation in Games and Epistemic Readings of Independence-Friendly Sentences

In the literature on logics of imperfect information it is often stated, incorrectly, that the Game-Theoretical Semantics of Independence-Friendly (IF) quantifiers captures the idea that the players of semantical games are forced to make some moves without knowledge of the moves of other players. We survey here the alternative semantics for IF logic that have been suggested in order to enforce this “epistemic reading” of sentences. We introduce some new proposals, and a more general logical language which distinguishes between “independence from actions” and “independence from strategies”. New semantics for IF logic can be obtained by choosing embeddings of the set of IF sentences into this larger language. We compare all the semantics proposed and their purported game-theoretical justifications, and disprove a few claims that have been made in the literature.     

On optimality-ratio and coverage in ranking of joined search results

In complex search tasks, it is often required to pose several basic search queries, join the answers to these queries, where each answer is given as a ranked list of items, and return a ranked list of combinations. However, the join result may include too many repetitions of items, and hence, frequently the entire join is too large to be useful. This can be solved by choosing a small subset of the join result. The focus of this paper is on how to choose this subset. We propose two measures for estimating the quality of result sets, namely, coverage and optimality ratio. Intuitively, maximizing the coverage aims at including in the result as many as possible appearances of items in their optimal combination, and maximizing the optimality ratio means striving to have each item appearing only in its optimal combination, i.e., only in the most highly ranked combination that contains it. One of the difficulties, when choosing the subset of the join in a complex search, is that there is a conflict between maximizing the coverage and maximizing the optimality ratio. In this paper, we introduce the measures coverage and optimality ratio. We present new semantics for complex search queries, aiming at providing high coverage and high optimality ratio. We examine the quality of the results of existing and the novel semantics, according to these two measures, and we provide algorithms for answering complex search queries under the new semantics. Finally, we present an experimental study, using Yahoo! Local Search Web Services, of the efficiency and the scalability of our algorithms, showing that complex search queries can be evaluated effectively under the proposed semantics.     

Learning Novel Objects for Extended Mobile Manipulation

We propose a method for learning novel objects from audio visual input. The proposed method is based on two techniques: out-of-vocabulary (OOV) word segmentation and foreground object detection in complex environments. A voice conversion technique is also involved in the proposed method so that the robot can pronounce the acquired OOV word intelligibly. We also implemented a robotic system that carries out interactive mobile manipulation tasks, which we call “extended mobile manipulation”, using the proposed method. In order to evaluate the robot as a whole, we conducted a task “Supermarket” adopted from the RoboCup@Home league as a standard task for real-world applications. The results reveal that our integrated system works well in real-world applications.     

Why untyped nonground metaprogramming is not (much of) a problem

We study a semantics for untyped, vanilla metaprograms, using the nonground representation for object level variables. We introduce the notion of language independence, which generalizes range restriction. We show that the vanilla metaprogram associated with a stratified normal object program is weakly stratified. For language independent, stratified normal object programs, we prove that there is a natural one-to-one correspondence between atoms p(t₁,…,t_r) in the perfect Herbrand model of the object program and solve(p(t₁,…,t_r)) atoms in the weakly perfect Herb and model of the associated vanilla metaprogram. Thus, for this class of programs, the weakly perfect Herbrand model provides a sensible semantics for the metaprogram. We show that this result generalizes to nonlanguage independent programs in the context of an extended Herbrand semantics, designed to closely mirror the operational behavior of logic programs. Moreover, we also consider a number of interesting extensions and/or variants of the basic vanilla metainterpreter. For instance, we demonstrate how our approach provides a sensible semantics for a limited form of amalgamation.     

Image Indexing and Retrieval Using Object-based Point Feature Maps

Multimedia data such as audios, images, and videos are semantically richer than standard alphanumeric data. Because of the nature of images as combinations of objects, content-based image retrieval should allow users to query by image objects with finer granularity than a whole image. In this paper, we address a web-based object-based image retrieval (OBIR) system . Its prototype implementation particularly explores image indexing and retrieval using object-based point feature maps. An important contribution of this work is its ability to allow a user to easily incorporate both low- and high-level semantics into an image query. This is accomplished through the inclusion of the spatial distribution of point-based image object features, the spatial distribution of the image objects themselves, and image object class identifiers. We introduce a generic image model, give our ideas on how to represent the low- and high-level semantics of an image object, discuss our notion of image object similarity, and define four types of image queries supported by the OBIR system. We also propose an application of our approach to neurological surgery training.     

Using perspective taking to learn from ambiguous demonstrations

This paper addresses an important issue in learning from demonstrations that are provided by “naïve” human teachers—people who do not have expertise in the machine learning algorithms used by the robot. We therefore entertain the possibility that, whereas the average human user may provide sensible demonstrations from a human’s perspective, these same demonstrations may be insufficient, incomplete, ambiguous, or otherwise “flawed” from the perspective of the training set needed by the learning algorithm to generalize properly. To address this issue, we present a system where the robot is modeled as a socially engaged and socially cognitive learner. We illustrate the merits of this approach through an example where the robot is able to correctly learn from “flawed” demonstrations by taking the visual perspective of the human instructor to clarify potential ambiguities.     

Novel Autonomous Navigation Algorithms in Dynamic and Unknown Environments

Because the range of mobile robot sensors is limited and navigation maps are not always accurate, autonomous navigation in dynamic and unknown environments is a big challenge. In this article, we propose two novel autonomous navigation algorithms, which are based on the analysis of three conditions for unobserved and uncertain environments during navigation.

The algorithm for a dynamic environment uses the “known space” and “free space” conditions. It corrects false obstacles in the map when the conventional path is stuck. The navigation algorithm for unknown environments uses the “unknown space” and “free space” conditions. We use the Monte Carlo method to evaluate the performance of our algorithms and the other methods. Experimental results show that our autonomous navigation algorithms are better than the others.     

An optimization algorithm inspired by musical composition

In this paper we propose a new multiagent metaheuristic based in an artificial society that uses a dynamic creative system to compose music, called “Method of musical composition” or MMC. To show the performance of our proposed MMC algorithm, 13 benchmark continuous optimization problems and the related results are compared with harmony search, improved harmony search, global-best harmony search and self-adaptative harmony search. The experimental results demonstrate that MMC improves the results obtained by the other metaheuristics in a set of multi-modal functions.