A modular approach to learning manipulation strategies from human demonstration

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly we record a human performing a task that requires an adaptive control strategy in different conditions, i.e. different task contexts. We then perform modular decomposition of the control strategy, using phases of the recorded actions to guide segmentation. Each module represents a part of the strategy, encoded as a pair of forward and inverse models. All modules contribute to the final control policy; their recommendations are integrated via a system of weighting based on their own estimated error in the current task context. We validate our approach by demonstrating it, both in a simulation for clarity, and on a real robot platform to demonstrate robustness and capacity to generalise. The robot task is opening bottle caps. We show that our approach can modularize an adaptive control strategy and generate appropriate motor commands for the robot to accomplish the complete task, even for novel bottles.     

Speeding up global optimization with the help of intelligent supervisors

It is shown in the paper that Developmental Genetic Programming is an efficient tool for evolutionary development of intelligent supervisors that solve an extension of Resource-Constrained Project Scheduling Problem. The extension assumes that resources are only partially available. It also assumes that renewable resources affect the project cost. The cost should be as low as possible and a deadline of the project must be met. This is apparent with regard to software houses and building enterprises. Computational experiments showed that supervisors find solutions of the problem much faster than other genetic approaches. A specific property of the supervisor is that it has various strategies of allocating the resources to the tasks. The supervisor uses the strategies in order to develop a procedure for producing the best schedule for the whole project. The analysis of the evolutionary process was performed and experimental results were compared with the optimal ones obtained by means of the exhaustive search method.     

Erotetic Search Scenarios and Three-Valued Logic

Our aim is to model the behaviour of a cognitive agent trying to solve a complex problem by dividing it into sub-problems, but failing to solve some of these sub-problems. We use the powerful framework of erotetic search scenarios (ESS) combined with Kleene’s strong three-valued logic. ESS, defined on the grounds of Inferential Erotetic Logic, has appeared to be a useful logical tool for modelling cognitive goal-directed processes. Using the logical tools of ESS and the three-valued logic, we will show how an agent could solve the initial problem despite the fact that the sub-problems remain unsolved. Thus our model not only indicates missing information but also specifies the contexts in which the problem-solving process may end in success despite the lack of information. We will also show that this model of problem solving may find use in an analysis of natural language dialogues.     

Vocal-based emotion recognition using random forests and decision tree

This paper proposes a new vocal-based emotion recognition method using random forests, where pairs of the features on the whole speech signal, namely, pitch, intensity, the first four formants, the first four formants bandwidths, mean autocorrelation, mean noise-to-harmonics ratio and standard deviation, are used in order to recognize the emotional state of a speaker. The proposed technique adopts random forests to represent the speech signals, along with the decision-trees approach, in order to classify them into different categories. The emotions are broadly categorised into the six groups, which are happiness, fear, sadness, neutral, surprise, and disgust. The Surrey Audio-Visual Expressed Emotion database is used. According to the experimental results using leave-one-out cross-validation, by means of combining the most significant prosodic features, the proposed method has an average recognition rate of \(66.28\%\), and at the highest level, the recognition rate of \(78\%\) has been obtained, which belongs to the happiness voice signals. The proposed method has \(13.78\%\) higher average recognition rate and \(28.1\%\) higher best recognition rate compared to the linear discriminant analysis as well as \(6.58\%\) higher average recognition rate than the deep neural networks results, both of which have been implemented on the same database.     

Quantum steering borders in three-qubit systems

We discuss a family of states describing three-qubit systems in a context of quantum steering phenomena. We show that symmetric steering cannot appear between two qubits—only asymmetric steering can appear in such systems. The main aim of this paper is to discuss the possible relations between the entanglement measures and steering parameter for two-mode mixed state corresponding to the qubit–qubit subsystem. We have derived the conditions determining boundary values of the negativity parametrized by concurrence. We show that two-qubit mixed state cannot be steerable when the negativity of such state is smaller than, or equal to, its boundary value. Finally, we have found ranges of the values of the mixedness measure, parametrized by concurrence and negativity for steerable and unsteerable two-qubit mixed states.     

Constrained motion planning of nonholonomic systems

This paper addresses the constrained motion planning problem for nonholonomic systems represented by driftless control systems with output. The problem consists in defining a control function driving the system output to a desirable point at a given time instant, whereas state and control variables remain over the control horizon within prescribed bounds. The state and control constraints are handled by extending the control system with a pair of state equations driven by the violation of constraints, and adding regularizing perturbations. For the regularized system a Jacobian motion planning algorithm is designed, called imbalanced. Solutions of example constrained motion planning problems for the rolling ball illustrate the theoretical concepts.     

Stochastic volatility models with leverage and heavy-tailed distributions: A Bayesian approach using scale mixtures

This paper studies a heavy-tailed stochastic volatility (SV) model with leverage effect, where a bivariate Student-t distribution is used to model the error innovations of the return and volatility equations. Choy et al. (2008) studied this model by expressing the bivariate Student-t distribution as a scale mixture of bivariate normal distributions. We propose an alternative formulation by first deriving a conditional Student-t distribution for the return and a marginal Student-t distribution for the log-volatility and then express these two Student-t distributions as a scale mixture of normal (SMN) distributions. Our approach separates the sources of outliers and allows for distinguishing between outliers generated by the return process or by the volatility process, and hence is an improvement over the approach of Choy et al. (2008). In addition, it allows an efficient model implementation using the WinBUGS software. A simulation study is conducted to assess the performance of the proposed approach and its comparison with the approach by Choy et al. (2008). In the empirical study, daily exchange rate returns of the Australian dollar to various currencies and daily stock market index returns of various international stock markets are analysed. Model comparison relies on the Deviance Information Criterion and convergence diagnostic is monitored by Geweke’s convergence test.     

Analytical benchmarks for topological optimization IV: square-shaped line support

Michell’s problem of optimizing truss topology for stress or compliance constraints under a single load condition is solved analytically for plane trusses having a square-shaped line support. Geometrical characteristics of the Hencky nets giving the truss layout are expressed in terms of Lommel functions. Analytically derived truss volumes for the above problem are compared with those of trusses supported along circles of equivalent area. Some general implications of the results are also discussed.