On Probabilistic Strategies for Robot Tasks

Robots must act purposefully and successfully in an uncertain world. Sensory information is inaccurate or noisy, actions may have a range of effects, and the robot's environment is only partially and imprecisely modeled. This thesis introduces active randomization by a robot, both in selecting actions to execute and in focusing on sensory information to interpret, as a basic tool for overcoming uncertainty. An example of randomization is given by the strategy of shaking a bin containing a part in order to orient the part in a desired stable state with some high probability. Another example consists of first using reliable sensory information to bring two parts close together, then relying on short random motions to actually mate the two parts, once the part motions lie below the available sensing resolution. Further examples include tapping parts that are tightly wedged, twirling gears before trying to mesh them, and vibrating parts to facilitate a mating operation.

Computational Structure of Human Language

The central thesis of this report is that human language is NP-complete. That is, the process of comprehending and producing utterances is bounded above by the class NP, and below by NP-hardness. This constructive complexity thesis has two empirical consequences. The first is to predict that a linguistic theory outside NP is unnaturally powerful. The second is to predict that a linguistic theory easier than NP-hard is descriptively inadequate. To prove the lower bound, I show that the following three subproblems of language comprehension are all NP-hard: decide whether a given sound is possible sound of a given language; disambiguate a sequence of words; and compute the antecedents of pronouns. The proofs are based directly on the empirical facts of the language user's knowledge, under an appropriate idealization. Therefore, they are invariant across linguistic theories. (For this reason, no knowledge of linguistic theory is needed to understand the proofs, only knowledge of English.) To illustrate the usefulness of the upper bound, I show that two widely-accepted analyses of the language user's knowledge (of syntactic ellipsis and phonological dependencies) lead to complexity outside of NP (PSPACE-hard and Undecidable, respectively). Next, guided by the complexity proofs, I construct alternate linguisitic analyses that are strictly superior on descriptive grounds, as well as being less complex computationally (in NP). The report also presents a new framework for linguistic theorizing, that resolves important puzzles in generative linguistics, and guides the mathematical investigation of human language.

Explorations of the Practical Issues of Learning Prediction-Control Tasks Using Temporal Difference Learning Methods

There has been recent interest in using temporal difference learning methods to attack problems of prediction and control. While these algorithms have been brought to bear on many problems, they remain poorly understood. It is the purpose of this thesis to further explore these algorithms, presenting a framework for viewing them and raising a number of practical issues and exploring those issues in the context of several case studies. This includes applying the TD(lambda) algorithm to: 1) learning to play tic-tac-toe from the outcome of self-play and of play against a perfectly-playing opponent and 2) learning simple one-dimensional segmentation tasks.

Teaching an Old Robot New Tricks: Learning Novel Tasks via Interaction with People and Things

As AI has begun to reach out beyond its symbolic, objectivist roots into the embodied, experientialist realm, many projects are exploring different aspects of creating machines which interact with and respond to the world as humans do. Techniques for visual processing, object recognition, emotional response, gesture production and recognition, etc., are necessary components of a complete humanoid robot. However, most projects invariably concentrate on developing a few of these individual components, neglecting the issue of how all of these pieces would eventually fit together. The focus of the work in this dissertation is on creating a framework into which such specific competencies can be embedded, in a way that they can interact with each other and build layers of new functionality. To be of any practical value, such a framework must satisfy the real-world constraints of functioning in real-time with noisy sensors and actuators. The humanoid robot Cog provides an unapologetically adequate platform from which to take on such a challenge. This work makes three contributions to embodied AI. First, it offers a general-purpose architecture for developing behavior-based systems distributed over networks of PC's. Second, it provides a motor-control system that simulates several biological features which impact the development of motor behavior. Third, it develops a framework for a system which enables a robot to learn new behaviors via interacting with itself and the outside world. A few basic functional modules are built into this framework, enough to demonstrate the robot learning some very simple behaviors taught by a human trainer. A primary motivation for this project is the notion that it is practically impossible to build an "intelligent" machine unless it is designed partly to build itself. This work is a proof-of-concept of such an approach to integrating multiple perceptual and motor systems into a complete learning agent.

Complexity of Human Language Comprehension

The goal of this article is to reveal the computational structure of modern principle-and-parameter (Chomskian) linguistic theories: what computational problems do these informal theories pose, and what is the underlying structure of those computations? To do this, I analyze the computational complexity of human language comprehension: what linguistic representation is assigned to a given sound? This problem is factored into smaller, interrelated (but independently statable) problems. For example, in order to understand a given sound, the listener must assign a phonetic form to the sound; determine the morphemes that compose the words in the sound; and calculate the linguistic antecedent of every pronoun in the utterance. I prove that these and other subproblems are all NP-hard, and that language comprehension is itself PSPACE-hard.

Un análisis comparativo del papel del bucle fonológico versus la agenda visoespacial en el cálculo en niños de 7-8 años = A comparative analysis of the phonological loop versus the visuo-spatial sketchpad in mental arithmetic tasks in 7-8 y.o. children

En esta investigación se ha estudiado la relación entre dos subsistemas de la memoria de trabajo (bucle fonológico y agenda viso-espacial) y el rendimiento en cálculo con una muestra de 94 niños españoles de 7-8 años. Hemos administrado dos pruebas de cálculo diseñadas para este estudio y seis medidas simples de memoria de trabajo (de contenido verbal, numérico y espacial) de la «Batería de Tests de Memoria de Treball» de Pickering, Baqués y Gathercole (1999), y dos pruebas visuales complementarias. Los resultados muestran una correlación importante entre las medidas de contenido verbal y numérico y el rendimiento en cálculo. En cambio, no hemos encontrado ninguna relación con las medidas espaciales. Se concluye, por lo tanto, que en escolares españoles existe una relación importante entre el bucle fonológico y el rendimiento en tareas de cálculo. En cambio, el rol de la agenda viso-espacial es nulo

The importance of causal connections in the comprehension of spontaneous spoken discourse. 'La importancia de las conexiones causales en la comprensi??n de discurso oral espont??neo'

Resumen tomado de la publicaci??n

Neuroticism, intelligence, and intra-individual variability in elementary cognitive tasks : Testing the mental noise hypothesis. 'Neuroticismo, inteligencia y variabilidad intra-individual en tareas cognitivas elementales : contraste de la hip??tesis del ruido neuronal'

Resumen tomado de la publicaci??n

Computer-mediated communication and time pressure induce higher cardiovascular responses in the preparatory and execution phases of cooperative tasks

Resumen tomado de la publicaci??n

Effect of initial status and growth in pseudoword reading on Spanish reading comprehension at the end of first grade

Resumen tomado de la publicaci??n

Estudio de asociación entre genotipo de DAT1 y transtorno por déficit de atención / hiperactividad

Introducción: El TDAH tiene un componente genético importante; el gen de transportador de Dopamina (DAT1) se ha asociado con susceptibilidad al TDAH y con sus endofenotipos. El VNTR de 40pb en la región 3’UTR aumenta la expresión del DAT1. En Colombia no hay ningún estudio previo que indique evidencia de la asociación genética entre TDAH y el gen DAT1. Objetivo: Determinar asociación entre el VNTR del DAT1 y el fenotipo y/o endofenotipos del TDAH. Métodos: Se seleccionaron 73 pacientes con TDAH y 75 controles, se valoró en los casos inteligencia y funciones ejecutivas. Mediante (PCR) se amplificó el VNTR DAT1. Se establecieron estadísticos genético poblacionales, análisis de asociación y de regresión logística entre las pruebas neuropsicológicas y genotipo. Resultado: El polimorfismo del DAT1 no mostró asociación con TDAH, ni con alteraciones en las funciones ejecutivas. El genotipo 10/10 del VNTR DAT1 se encontró asociado con el índice de velocidad de procesamiento (p <0,05). En el subgrupo hiperactividad hubo asociación con algunas subpruebas de flexibilidad cognitiva, número de respuestas correctas, total de errores, número de respuestas perseverativas (p ≤ 0.01). En el subgrupo mixto se asoció con índice de comprensión verbal (p <0,05). Conclusiones: No hubo asociación entre el polimorfismo VNTR (DAT1) y el fenotipo de TDAH. Se encontraron asociaciones entre genotipo y algunos test de flexibilidad cognitiva e índice de comprensión verbal. Se establecieron los estadísticos genético poblacionales de este polimorfismo para la población analizada, el cual corresponde al primer reporte de una muestra de nuestro país.

Sustaining Success Submitted Tasks Summary Links

link to the documents which describe each of the tasks, one of which students may choose to submit

FY2014-15 Tasks

READ the guidance notes, then attempt the tasks CONTENTS: Guidance notes - feedback from previous years Difference between reflection and essay Collection of suggested tasks

Evaluation of strategic knowledge of students through authentic tasks of writingin science classroom

The difficulties at evaluating strategic knowledge have been connected to the use of deconxetualized tests that, at the end, do not involve the use of this knowledge. For this reason, an interest in developing authentic writing tasks that offer advantages for these kinds of evaluation have arisen. Throughout this research, authentic writing tasks were developed in a natural sciences class, with the purpose of evaluating the students' strategic knowledge. Different instruments were used to collect data, e.g. Interviews, questionnaires, a self-inform, as well as three samples of writing by the students, with the objective of analyzing the changes that occurred between one and the others, as well as to determine the decisions that students made in order to complete the assigned tasks successfully. An authentic writing task gives great opportunities to evaluate strategic knowledge. These tasks lead students to arrange their knowledge about the topic in hand, organize and adapt it to fit the objectives and the audience, also, it allows them to control and adjust their decisions on the task. This last stage became the perfect opportunity to take notes on the knowledge and regulation of cognitive processes that the students brought into play, as well as to evaluating their understanding of writing and the demands given on the different discursive genres. As a result, the students showed different degrees of strategic knowledge in the task. The students who showed a better strategic knowledge trust in their structural abilities know about discursive genres and have a good performance in basic linguistic abilities. The students who showed weak strategic knowledge distrust their writing skills, seem extremely worried about organizing the content of their texts, fail when checking their writings, and overlook or are unaware of the basic requirements of the discursive genre they are asked to exemplify. It appears that the previous knowledge and experiences at writing the students have been exposed to may affect the strategic knowledge shown when writing in this subject. 

Brain injury: Assessment of hemineglect occurence and of attentional deficit through cancellation tasks

Hemineglect (HN) is a widely studied syndrome after unilateral lesions due to stroke. However, although there are some studies with HN rehabilitation of posttraumatic brain injury (TBI), there seems to be no published data about the prevalence of HN in TBI through cancellation tasks. Thus, the objective of this study was to characterize the occurrence of this syndrome and of attentional deficits in patients with TBI by means of the Bells Test and of a line cancellation task. The sample was comprised of 21 patients with TBI and 21 healthy controls matched by education, age and frequency of written language habits. There was a poorer performance of patients with TBI with a greater number of omissions on the left side and lower speed processing. In addition, suggestive signs of HN were found in 38 % of the sample of TBI patients. More research is needed to characterize clinical syndromes regarding the occurrence of HN after a TBI through the traditionally known cancellation paradigm.