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.

Interaction and Intelligent Behavior

We introduce basic behaviors as primitives for control and learning in situated, embodied agents interacting in complex domains. We propose methods for selecting, formally specifying, algorithmically implementing, empirically evaluating, and combining behaviors from a basic set. We also introduce a general methodology for automatically constructing higher--level behaviors by learning to select from this set. Based on a formulation of reinforcement learning using conditions, behaviors, and shaped reinforcement, out approach makes behavior selection learnable in noisy, uncertain environments with stochastic dynamics. All described ideas are validated with groups of up to 20 mobile robots performing safe--wandering, following, aggregation, dispersion, homing, flocking, foraging, and learning to forage.

Moderating effects of management control systems and innovation on performance. Simple methods for correcting the effects of measurement error for interaction effects in small samples

In the accounting literature, interaction or moderating effects are usually assessed by means of OLS regression and summated rating scales are constructed to reduce measurement error bias. Structural equation models and two-stage least squares regression could be used to completely eliminate this bias, but large samples are needed. Partial Least Squares are appropriate for small samples but do not correct measurement error bias. In this article, disattenuated regression is discussed as a small sample alternative and is illustrated on data of Bisbe and Otley (in press) that examine the interaction effect of innovation and style of use of budgets on performance. Sizeable differences emerge between OLS and disattenuated regression

Simultaneous estimation of indirect and interaction effects using structural equation models

Interaction effects are usually modeled by means of moderated regression analysis. Structural equation models with non-linear constraints make it possible to estimate interaction effects while correcting for measurement error. From the various specifications, Jöreskog and Yang's (1996, 1998), likely the most parsimonious, has been chosen and further simplified. Up to now, only direct effects have been specified, thus wasting much of the capability of the structural equation approach. This paper presents and discusses an extension of Jöreskog and Yang's specification that can handle direct, indirect and interaction effects simultaneously. The model is illustrated by a study of the effects of an interactive style of use of budgets on both company innovation and performance

Correcting Measurement Error Bias in Interaction Models with Small Samples

Several methods have been suggested to estimate non-linear models with interaction terms in the presence of measurement error. Structural equation models eliminate measurement error bias, but require large samples. Ordinary least squares regression on summated scales, regression on factor scores and partial least squares are appropriate for small samples but do not correct measurement error bias. Two stage least squares regression does correct measurement error bias but the results strongly depend on the instrumental variable choice. This article discusses the old disattenuated regression method as an alternative for correcting measurement error in small samples. The method is extended to the case of interaction terms and is illustrated on a model that examines the interaction effect of innovation and style of use of budgets on business performance. Alternative reliability estimates that can be used to disattenuate the estimates are discussed. A comparison is made with the alternative methods. Methods that do not correct for measurement error bias perform very similarly and considerably worse than disattenuated regression

Carpe Diem: Establish an Institutional Repository for Your Organization

An interesting article about repositories.

Análisis de la inversión social de ECOPETROL en la gestión municipal de Barrancabermeja, 2006-2008

La presente monografía hace un análisis sobre la Gestión Social de ECOPETROL, es decir sobre las acciones voluntarias que desarrolla la Empresa petrolera para generar procesos de desarrollo sostenible y mejorar las condiciones de vida de las comunidades de su área de influencia, en asocio con autoridades locales y en concordancia con los planes de desarrollo municipal: generando un complejo proceso de interacción, que hasta el momento no ha sido medido ni estudiado por ninguna institución del país. En este orden de ideas, el presente estudio enfatiza su esfuerzo en la solución de este problema, realizando un estudio detallado del proceso de interacción entre ECOPETROL y el municipio de Barrancabermeja: identificando los indicadores de gestión pública del municipio y de la gestión social de ECOPETROL, para así determinar el nivel de interdependencia y efectividad del municipio en la prestación de sus servicios frente al esfuerzo voluntario que realiza ECOPETROL.

Institutional innovation: synthesis of programme outcomes

Report of the work of the Projects funded by the JISC Institutional change/innovation Programme 2008-2010. Report produced by the Synthesis and Benefits Realisation Team linked to the Programme.

Institutional Personal Learning Environments – Paradise or Paradox? A Digital Literacies Perspective

This was my keynote presentation at Computer Supported Education (CSEDU) 2012, in Porto. It looks at the importance of digital literacies and how VLEs do not support their developmeng and looks at iPLEs as an alternative.

INFO2009 Framework for Critical Friends Interaction

Guidance document detailing the suggested process for the critical friend team interaction

WAIS Seminar:Evaluating the Cognitive Side of Information Interaction

Abstract In this talk, I'll focus on the work we've been doing on evaluating the cognitive side of dealing with information resources and increasingly complex user interfaces. While we can build increasingly powerful user interfaces, they often come at the cost of simple design and ease of use. I'll describe two specific studies: 1) work on the ORCHID project focused on measuring mental workload during tasks using fNIRS (a blood-oxygen-based brain scanner), and 2) a evaluation metric for measuring how much people learn during tasks. Together these provide advances towards understanding the cognitive side of information interaction, in working towards building better tools for users.

Anfibios Culturales y Sistemas de Regulación Ley, Moral y Cultura en la producción audiovisual colombiana Estudio de caso: Sin Tetas no hay Paraíso

La Teoría de la Acción Humana desarrollada por Antanas Mockus, parte del principio de que la acción humana es multimotivada y multiregulada. Entre las multiples regulaciones se encuentran los Sistemas de Regulación Social Ley, Moral y Cultura quienes en cierta medida explican el accionar y la interacción social. No obstante dado que la sociedad contemporánea se caracteriza por ubicarse en un contexto intercultural de contactos y fricciones permanentes, entre distintas perspectivas culturales en distintos grados de hibridación, el divorcio entre los sistemas regulatorios parece inevitable. Entendiendo al Espacio Público habermasiano ya no reservado únicamente a los actores institucionales, sino a la sociedad civil y los medios masivos. Es en este nuevo espacio deliberativo donde el Anfibio Cultural se desenvuelve a fin de resolver la problemática del divorcio entre los sistemas regulatorios. El anfibio valiéndose de sus herramientas camaleónicas y traductoras buscará por vías dialógicas la reducción así sea parcial, a mínimos aceptables de discusión e interrelación cultural. La imagen articulada a un mecanismo cultural por un lado reconstruye realidades pero por el otro alimenta el ciclo de producción y aceptación de imaginarios colectivos. De esta manera la presente investigación propone evidenciar los conceptos de Mockus en el desarrollo de una producción audiovisual, así como también realiza un aporte conceptual a la teoría al incluir la Dialéctica del Reconocimiento como una herramienta eficaz a la hora de buscar generar acuerdos. La presente investigación propone evidenciar cómo a partir del análisis de una producción audiovisual se promueven valores, cultural, ideas y costumbres que incentivan tanto el divorcio como la armonización entre los sistemas regulatorios.

The institutional environment and its influence on political options to Protect Winnipeg’s Female garments Workers against the impact of globalization

The principal objective of this paper is to identify the relationship between the re­sults of the Canadian policies implemented to protect female workers against the impact of globalization on the garment industry and the institutional setting in which this labour market is immersed in Winnipeg. This research paper begins with a brief summary of the institutional theory appro­ach that sheds light on the analysis of the effects of institutions on the policy options to protect female workers of the Winnipeg garment industry. Next, this paper identi­fies the set of beliefs, formal procedures, routines, norms and conventions that cha­racterize the institutional environment of the female workers of Winnipeg’s garment industry. Subsequently, this paper descri­bes the impact of free trade policies on the garment industry of Winnipeg. Afterward, this paper presents an analysis of the ba­rriers that the institutional features of the garment sector in Winnipeg can set to the successful achievement of policy options addressed to protect the female workforce of this sector. Three policy options are considered: ethical purchasing; training/retraining programs and social engage­ment support for garment workers; and protection of migrated workers through promoting and facilitating bonds between Canada’s trade unions and trade unions of the labour sending countries. Finally, this paper concludes that the formation of isolated cultural groups inside of factories; the belief that there is gender and race discrimination on the part of the garment industry management against workers; the powerless social conditions of immi­grant women; the economic rationality of garment factories’ managers; and the lack of political will on the part of Canada and the labour sending countries to set effective bilateral agreements to protect migrate wor­kers, are the principal barriers that divide the actors involved in the garment industry in Winnipeg. This division among the prin­cipal actors of Winnipeg’s garment industry impedes the change toward more efficient institutions and, hence, the successful achievement of policy options addressed to protect women workers. 

Advances and limitations in the attention to the problems of housing and urban land in Mexico. An approach from the legal-institutional frame

In this work we analyze the reforms carried out by the Mexican state in the nineties of the 20th century, in the items concerning the policies of housing and urban land, based on an exhaustive review of the main actions, programs and changes in the legal and institutional frame that applies for each of these fields. The nineties represent a "breaking point" in the way the State considers the satisfaction of the right to the housing and attends the offer of urbanized land for a tidy and sustainable urban development. In this period of time, the approach of direct intervention in developing and financing housing and creation of land reserves has changed into another one, ruled by the logic of the market. The balance to the first decade of the 21st century is ambiguous, as neither the housing policy has solved the housing shortage for low-income population, nor the land policy has eliminated the illegal urban growth.

Interaction between Public Transportation and Urbanization in the Mexico City Metropolitan Area: an Expansive Model Reaching its Limits

In Metropolitan Area of Mexico City, most of urban displacements happen through semi formal public transportation: small and medium capacity vehicles operated by small private enterprises, through a concession scheme. This kind of public transportation has been playing a major role in the Mexican capital. On one hand, it has been one of the conditions for urbanization to be possible. On the other hand, despite its uncountable deficiencies, public transportation has allowed for a long time the whole population to be able to move within this huge metropolis. However, that important function with regards to integration has now reached its limits in the most recent suburbs of the city, where a new mode of urbanization is taking place, based on massive production of very big social housing gated settlements. Public transportation tends to constitute here a factor of exclusion and households meet with important difficulties for their daily mobility.