From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot

This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw physical experiences. It shows that a robotic platform can build up and maintain a system for object localization, segmentation, and recognition, starting from very little. What the robot starts with is a direct solution to achieving figure/ground separation: it simply 'pokes around' in a region of visual ambiguity and watches what happens. If the arm passes through an area, that area is recognized as free space. If the arm collides with an object, causing it to move, the robot can use that motion to segment the object from the background. Once the robot can acquire reliable segmented views of objects, it learns from them, and from then on recognizes and segments those objects without further contact. Both low-level and high-level visual features can also be learned in this way, and examples are presented for both: orientation detection and affordance recognition, respectively. The motivation for this work is simple. Training on large corpora of annotated real-world data has proven crucial for creating robust solutions to perceptual problems such as speech recognition and face detection. But the powerful tools used during training of such systems are typically stripped away at deployment. Ideally they should remain, particularly for unstable tasks such as object detection, where the set of objects needed in a task tomorrow might be different from the set of objects needed today. The key limiting factor is access to training data, but as this thesis shows, that need not be a problem on a robotic platform that can actively probe its environment, and carry out experiments to resolve ambiguity. This work is an instance of a general approach to learning a new perceptual judgment: find special situations in which the perceptual judgment is easy and study these situations to find correlated features that can be observed more generally.

Perceptual Evaluation of Video-Realistic Speech

abstract With many visual speech animation techniques now available, there is a clear need for systematic perceptual evaluation schemes. We describe here our scheme and its application to a new video-realistic (potentially indistinguishable from real recorded video) visual-speech animation system, called Mary 101. Two types of experiments were performed: a) distinguishing visually between real and synthetic image- sequences of the same utterances, ("Turing tests") and b) gauging visual speech recognition by comparing lip-reading performance of the real and synthetic image-sequences of the same utterances ("Intelligibility tests"). Subjects that were presented randomly with either real or synthetic image-sequences could not tell the synthetic from the real sequences above chance level. The same subjects when asked to lip-read the utterances from the same image-sequences recognized speech from real image-sequences significantly better than from synthetic ones. However, performance for both, real and synthetic, were at levels suggested in the literature on lip-reading. We conclude from the two experiments that the animation of Mary 101 is adequate for providing a percept of a talking head. However, additional effort is required to improve the animation for lip-reading purposes like rehabilitation and language learning. In addition, these two tasks could be considered as explicit and implicit perceptual discrimination tasks. In the explicit task (a), each stimulus is classified directly as a synthetic or real image-sequence by detecting a possible difference between the synthetic and the real image-sequences. The implicit perceptual discrimination task (b) consists of a comparison between visual recognition of speech of real and synthetic image-sequences. Our results suggest that implicit perceptual discrimination is a more sensitive method for discrimination between synthetic and real image-sequences than explicit perceptual discrimination.

Job satisfaction in a developing country: exploring the work-family rivalry

This paper empirically analyzes the relationship between familiar duties and job satisfaction in a developing country by using four different indexes. This analysis includes objective measures and subjective measures from data gathered in Colombia. In contrast to previous literature, objective measures are included through the interactive effects between the family responsibilities variables and the gender. Subjective measures are evaluated using the job-family compatibility perception. Our findings show that women tend to be less satisfied at work as the number of children increases, while men are more prone to satisfaction at work when they are single thus showing the importance given to the use of their own time. It also reveals that job- family compatibility is an important determinant of job satisfaction.

Asimetría en la amplitud perceptual: implicaciones para la presentación en parafóvea.

La amplitud perceptual, definida como la zona alrededor del punto de fijación de la que se extrae información funcional para el procesamiento, es mayor a la derecha que a la izquierda de éste, al menos cuando se procesa material verbal. Esta asimetría en la amplitud perceptual ha sido puesta de manifiesto con diferentes paradigmas experimentales que revisamos en este trabajo. Revisamos igualmente las distintas hipótesis que se han propuesto para su explicación, para concluir con algunas implicaciones que este dato pudiera tener para otros estudios que utilizan presentación de material verbal en parafóvea.

Superpower rivalry.

Estudia el período posterior a la Segunda Guerra Mundial, caracterizado por la aparición de las superpotencias, la carrera de armamentos y el desarrollo de la Guerra Fría. Las relaciones de rivalidad entre éstas se manifiestan en guerras en distintos lugares del mundo: Corea y Vietnam y la llamada Crisis de los Misiles en Cuba. Está dirigido a estudiantes de catorce a dieciséis años.

Factores que influyen en la comprensión temprana de imágenes : similitud perceptual y nivel socioeconómico.

Resumen basado en el de la publicación

Associative learning with and without perceptual awareness

Resumen tomado de la publicaci??n

Applicability of the Test of Visual Perceptual Abilities (TVPA) in diagnosing learning disabilities in hearing-impaired children

This paper studies the validity of the Test of Visual Perceptual Abilities (TVPA) as an indicator of learning problems in hearing-impaired children and how it correlates with other measures of learning disabilities.

Perceptual aspects of a three-dimensional vowel space

This dissertation examines the auditory-perceptual theory of speech perception and the concept and validity of perceptual target zones for vowels.

Visual perceptual skills, reading ability and the young deaf child

This paper is a review of a study investigating the relationship between visual perceptual skills and reading abilities of young deaf children.

Perceptual correlates of spectral changes in complex tones

This paper reviews a study of tonal precepts such as pitch and timbre as a means of facilitating auditory discrimination tasks.

Reanalysis of perceptual confusion matrices

This paper presents a study reformatting and reanalyzing data collected in a 1955 study of the perception of sixteen different consonants in consonant-vowel combinations, by human listeners.

Perceptual validation of an acoustic metric for measuring vowel production by deaf children

This paper discusses a study to validate the metric developed in the Geers and Moog Cochlear Implant Study at CID to measure the speech production of hearing impaired children.

Changing state disruption of lip-reading by irrelevant sound in perceptual and memory tasks

Three experiments investigated irrelevant sound interference of lip-read lists. In Experiment 1, an acoustically changing sequence of nine irrelevant utterances was more disruptive to spoken immediate identification of lists of nine lip-read digits than nine repetitions of the same utterances (the changing-state effect; Jones, Madden, & Miles, 1992). Experiment 2 replicated this finding when lip-read items were sampled with replacement from the nine digits to form the lip-read lists. In Experiment 3, when the irrelevant sound was confined to the retention interval of a delayed recall task, a changing-state pattern of disruption also occurred. Results confirm a changing-state effect in memory for lip-read items but also point to the possibility that, for lip-reading, changing-state effects may occur at an earlier, perceptual stage.

Steady-spectrum contexts and perceptual compensation for reverberation in speech identification

Perceptual compensation for reverberation was measured by embedding test words in contexts that were either spoken phrases or processed versions of this speech. The processing gave steady-spectrum contexts with no changes in the shape of the short-term spectral envelope over time, but with fluctuations in the temporal envelope. Test words were from a continuum between "sir" and "stir." When the amount of reverberation in test words was increased, to a level above the amount in the context, they sounded more like "sir." However, when the amount of reverberation in the context was also increased, to the level present in the test word, there was perceptual compensation in some conditions so that test words sounded more like "stir" again. Experiments here found compensation with speech contexts and with some steady-spectrum contexts, indicating that fluctuations in the context's temporal envelope can be sufficient for compensation. Other results suggest that the effectiveness of speech contexts is partly due to the narrow-band "frequency-channels" of the auditory periphery, where temporal-envelope fluctuations can be more pronounced than they are in the sound's broadband temporal envelope. Further results indicate that for compensation to influence speech, the context needs to be in a broad range of frequency channels. (c) 2007 Acoustical Society of America.