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8 results (View BibTeX file of all listed publications)

2016

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Implications of Action-Oriented Paradigm Shifts in Cognitive Science

Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
An action-oriented perspective changes the role of an individual from a passive observer to an actively engaged agent interacting in a closed loop with the world as well as with others. Cognition exists to serve action within a landscape that contains both. This chapter surveys this landscape and addresses the status of the pragmatic turn. Its potential influence on science and the study of cognition are considered (including perception, social cognition, social interaction, sensorimotor entrainment, and language acquisition) and its impact on how neuroscience is studied is also investigated (with the notion that brains do not passively build models, but instead support the guidance of action). A review of its implications in robotics and engineering includes a discussion of the application of enactive control principles to couple action and perception in robotics as well as the conceptualization of system design in a more holistic, less modular manner. Practical applications that can impact the human condition are reviewed (e.g. educational applications, treatment possibilities for developmental and psychopathological disorders, the development of neural prostheses). All of this foreshadows the potential societal implications of the pragmatic turn. The chapter concludes that an action-oriented approach emphasizes a continuum of interaction between technical aspects of cognitive systems and robotics, biology, psychology, the social sciences, and the humanities, where the individual is part of a grounded cultural system.

The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]

2016

Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A. Implications of Action-Oriented Paradigm Shifts in Cognitive Science In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]

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Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment

Bohg, J., Kragic, D.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 309-320, 18, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
Since the 1950s, robotics research has sought to build a general-purpose agent capable of autonomous, open-ended interaction with realistic, unconstrained environments. Cognition is perceived to be at the core of this process, yet understanding has been challenged because cognition is referred to differently within and across research areas, and is not clearly defined. The classic robotics approach is decomposition into functional modules which perform planning, reasoning, and problem-solving or provide input to these mechanisms. Although advancements have been made and numerous success stories reported in specific niches, this systems-engineering approach has not succeeded in building such a cognitive agent. The emergence of an action-oriented paradigm offers a new approach: action and perception are no longer separable into functional modules but must be considered in a complete loop. This chapter reviews work on different mechanisms for action- perception learning and discusses the role of embodiment in the design of the underlying representations and learning. It discusses the evaluation of agents and suggests the development of a new embodied Turing Test. Appropriate scenarios need to be devised in addition to current competitions, so that abilities can be tested over long time periods.

18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]

Bohg, J., Kragic, D. Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 309-320, 18, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]

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Locally Weighted Regression for Control

Ting, J., Meier, F., Vijayakumar, S., Schaal, S.

In Encyclopedia of Machine Learning and Data Mining, pages: 1-14, Springer US, Boston, MA, 2016 (inbook)

link (url) DOI [BibTex]

Ting, J., Meier, F., Vijayakumar, S., Schaal, S. Locally Weighted Regression for Control In Encyclopedia of Machine Learning and Data Mining, pages: 1-14, Springer US, Boston, MA, 2016 (inbook)

link (url) DOI [BibTex]

2010

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Locally weighted regression for control

Ting, J., Vijayakumar, S., Schaal, S.

In Encyclopedia of Machine Learning, pages: 613-624, (Editors: Sammut, C.;Webb, G. I.), Springer, 2010, clmc (inbook)

Abstract
This is article addresses two topics: learning control and locally weighted regression.

link (url) [BibTex]

2010

Ting, J., Vijayakumar, S., Schaal, S. Locally weighted regression for control In Encyclopedia of Machine Learning, pages: 613-624, (Editors: Sammut, C.;Webb, G. I.), Springer, 2010, clmc (inbook)

link (url) [BibTex]

2009

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Synchronized Oriented Mutations Algorithm for Training Neural Controllers

Berenz, V., Suzuki, K.

In Advances in Neuro-Information Processing: 15th International Conference, ICONIP 2008, Auckland, New Zealand, November 25-28, 2008, Revised Selected Papers, Part II, pages: 244-251, Springer Berlin Heidelberg, Berlin, Heidelberg, 2009 (inbook)

link (url) DOI [BibTex]

2009

Berenz, V., Suzuki, K. Synchronized Oriented Mutations Algorithm for Training Neural Controllers In Advances in Neuro-Information Processing: 15th International Conference, ICONIP 2008, Auckland, New Zealand, November 25-28, 2008, Revised Selected Papers, Part II, pages: 244-251, Springer Berlin Heidelberg, Berlin, Heidelberg, 2009 (inbook)

link (url) DOI [BibTex]

Thumb xl screen shot 2015 08 23 at 14.45.26
Integration of Visual Cues for Robotic Grasping

Bergström, N., Bohg, J., Kragic, D.

In Computer Vision Systems, 5815, pages: 245-254, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2009 (incollection)

Abstract
In this paper, we propose a method that generates grasping actions for novel objects based on visual input from a stereo camera. We are integrating two methods that are advantageous either in predicting how to grasp an object or where to apply a grasp. The first one reconstructs a wire frame object model through curve matching. Elementary grasping actions can be associated to parts of this model. The second method predicts grasping points in a 2D contour image of an object. By integrating the information from the two approaches, we can generate a sparse set of full grasp configurations that are of a good quality. We demonstrate our approach integrated in a vision system for complex shaped objects as well as in cluttered scenes.

pdf link (url) DOI [BibTex]

Bergström, N., Bohg, J., Kragic, D. Integration of Visual Cues for Robotic Grasping In Computer Vision Systems, 5815, pages: 245-254, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2009 (incollection)

pdf link (url) DOI [BibTex]

1996

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From isolation to cooperation: An alternative of a system of experts

Schaal, S., Atkeson, C. G.

In Advances in Neural Information Processing Systems 8, pages: 605-611, (Editors: Touretzky, D. S.;Mozer, M. C.;Hasselmo, M. E.), MIT Press, Cambridge, MA, 1996, clmc (inbook)

Abstract
We introduce a constructive, incremental learning system for regression problems that models data by means of locally linear experts. In contrast to other approaches, the experts are trained independently and do not compete for data during learning. Only when a prediction for a query is required do the experts cooperate by blending their individual predictions. Each expert is trained by minimizing a penalized local cross validation error using second order methods. In this way, an expert is able to adjust the size and shape of the receptive field in which its predictions are valid, and also to adjust its bias on the importance of individual input dimensions. The size and shape adjustment corresponds to finding a local distance metric, while the bias adjustment accomplishes local dimensionality reduction. We derive asymptotic results for our method. In a variety of simulations we demonstrate the properties of the algorithm with respect to interference, learning speed, prediction accuracy, feature detection, and task oriented incremental learning. 

link (url) [BibTex]

1996

Schaal, S., Atkeson, C. G. From isolation to cooperation: An alternative of a system of experts In Advances in Neural Information Processing Systems 8, pages: 605-611, (Editors: Touretzky, D. S.;Mozer, M. C.;Hasselmo, M. E.), MIT Press, Cambridge, MA, 1996, clmc (inbook)

link (url) [BibTex]

1991

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Ways to smarter CAD-systems

Ehrlenspiel, K., Schaal, S.

In Proceedings of ICED’91Heurista, pages: 10-16, (Editors: Hubka), Edition, Schriftenreihe WDK 21. Zürich, 1991, clmc (inbook)

[BibTex]

1991

Ehrlenspiel, K., Schaal, S. Ways to smarter CAD-systems In Proceedings of ICED’91Heurista, pages: 10-16, (Editors: Hubka), Edition, Schriftenreihe WDK 21. Zürich, 1991, clmc (inbook)

[BibTex]