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chap2.bib
@INPROCEEDINGS{Brenner/etal:2007,
AUTHOR = {Michael Brenner and Nick Hawes and John Kelleher and Jeremy Wyatt},
TITLE = {Mediating Between Qualitative and Quantitative Representations for
Task-Orientated Human-Robot Interaction},
BOOKTITLE = {IJCAI 2007, Proceedings of the 20th International Joint Conference
on Artificial Intelligence},
YEAR = {2007},
EDITOR = {Manuela M. Veloso },
PAGES = { 2072-2077},
MONTH = {January},
ABSTRACT = {In human-robot interaction (HRI) it is essential that the robot interprets
and reacts to a human's utterances in a manner that reflects their
intended meaning. In this paper we present a collection of novel
techniques that allow a robot to interpret and execute spoken commands
describing manipulation goals involving qualitative spatial constraints
(e.g. ``put the red ball near the blue cube''). The resulting implemented
system integrates computer vision, potential field models of spatial
relationships, and action planning to mediate between the continuous
real world, and discrete, qualitative representations used for symbolic
reasoning. },
DATE-ADDED = {2009-01-02 11:37:59 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
URL = {http://www.cognitivesystems.org/publications/brenneretal07ijcai.pdf}
}
@INPROCEEDINGS{Hawes/etal:2007c,
AUTHOR = {Nick Hawes and Aaron Sloman and Jeremy Wyatt},
TITLE = {Towards an Empirical Exploration of Design Space},
BOOKTITLE = {Evaluating Architectures for Intelligence: Papers from the 2007 AAAI
Workshop},
YEAR = {2007},
EDITOR = {Gal A. Kaminka and Catherina R. Burghart},
PAGES = {31 -- 35},
ADDRESS = {Vancouver, Canada},
MONTH = {July},
PUBLISHER = {AAAI Press},
ABSTRACT = {In this paper we propose an empirical method for the comparison of
architectures designed to produce similar behaviour from an intelligent
system. The approach is based on the exploration of \emph{design
space} using similar designs that all satisfy the same requirements
in \emph{niche space}. An example of a possible application of this
method is given using a robotic system that has been implemented
using a software toolkit that has been designed to support architectural
experimentation.},
ANNOTE = {Technical Report WS-07-04},
DATE-ADDED = {2009-01-05 11:34:59 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
URL = {http://www.cognitivesystems.org/publications/hawesetal07eai.pdf}
}
@INPROCEEDINGS{Hawes/etal:2007a,
AUTHOR = {Nick Hawes and Aaron Sloman and Jeremy Wyatt and Michael Zillich
and Henrik Jacobsson and Geert-Jan Kruijff and Michael Brenner and
Gregor Berginc and Danijel Sko\v{c}aj},
TITLE = {Towards an Integrated Robot with Multiple Cognitive Functions},
BOOKTITLE = {Proceedings of the Twenty-Second AAAI Conference on Artificial Intelligence
(AAAI 2008)},
YEAR = {2007},
EDITOR = {Robert C. Holte and Adele Howe},
PAGES = {1548 -- 1553},
ADDRESS = {Vancouver, Canada},
MONTH = {July},
PUBLISHER = {AAAI Press},
ABSTRACT = {We present integration mechanisms for combining heterogeneous components
in a situated information processing system, illustrated by a cognitive
robot able to collaborate with a human and display some understanding
of its surroundings. These mechanisms include an architectural schema
that encourages parallel and incremental information processing,
and a method for binding information from distinct representations
that when faced with rapid change in the world can maintain a coherent,
though distributed, view of it. Provisional results are demonstrated
in a robot combining vision, manipulation, language, planning and
reasoning capabilities interacting with a human and manipulable objects.
},
DATE-ADDED = {2009-01-02 11:37:59 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
URL = {http://www.cognitivesystems.org/publications/hawesetal07playmate.pdf}
}
@INPROCEEDINGS{Hawes/etal:2008,
AUTHOR = {Nick Hawes and Jeremy Wyatt and Aaron Sloman},
TITLE = {Exploring Design Space For An Integrated Intelligent System},
BOOKTITLE = {Research and Development in Intelligent Systems XXV: Proceedings
of AI-2008, The Twenty-eighth SGAI International Conference on Innovative
Techniques and Applications of Artificial Intelligence},
YEAR = {2008},
EDITOR = {Max Bramer and Frans Coenen and Miltos Petridis},
ADDRESS = {Cambridge, England},
MONTH = {December},
PUBLISHER = {Springer},
ABSTRACT = {Understanding the trade-offs available in the design space of intelligent
systems is a major unaddressed element in the study of Artificial
Intelligence. In this paper we approach this problem in two ways.
First, we discuss the development of our integrated robotic system
in terms of its trajectory through design space. Second, we demonstrate
the practical implications of architectural design decisions by using
this system as an experimental platform for comparing behaviourally
similar yet architecturally different systems. The results of this
show that our system occupies a "sweet spot" in design space in terms
of the cost of moving information between processing components.},
DATE-ADDED = {2009-01-04 20:37:48 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
URL = {http://www.cognitivesystems.org/publications/hawesetal08ai.pdf}
}
@INPROCEEDINGS{Jacobsson/etal:2008a,
AUTHOR = {Henrik Jacobsson and Nick Hawes and Geert-Jan Kruijff and Jeremy
Wyatt},
TITLE = {Crossmodal Content Binding in Information-Processing Architectures},
BOOKTITLE = {HRI '08: Proceedings of the 3rd ACM/IEEE International Conference
on Human Robot Interaction},
YEAR = {2008},
PAGES = {81--88},
ADDRESS = {New York, NY, USA},
MONTH = {March},
PUBLISHER = {ACM},
ABSTRACT = {Operating in a physical context, an intelligent robot faces two fundamental
problems. First, it needs to combine information from its different
sensors to form a representation of the environment that is more
complete than any representation a single sensor could provide. Second,
it needs to combine high-level representations (such as those for
planning and dialogue) with sensory information, to ensure that the
interpretations of these symbolic representations are grounded in
the situated context. Previous approaches to this problem have used
techniques such as (low-level) information fusion, ontological reasoning,
and (high-level) concept learning. This paper presents a framework
in which these, and related approaches, can be used to form a shared
representation of the current state of the robot in relation to its
environment and other agents. Preliminary results from an implemented
system are presented to illustrate how the framework supports behaviours
commonly required of an intelligent robot.},
DATE-ADDED = {2009-01-04 20:51:00 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
DOI = {http://doi.acm.org/10.1145/1349822.1349834},
ISBN = {978-1-60558-017-3},
LOCATION = {Amsterdam, The Netherlands},
URL = {http://doi.acm.org/10.1145/1349822.1349834}
}
@INPROCEEDINGS{Kruijff/etal:2006,
AUTHOR = {Geert-Jan M. Kruijff and John D. Kelleher and Nick Hawes},
TITLE = {Information Fusion For Visual Reference Resolution In Dynamic Situated
Dialogue},
BOOKTITLE = {Perception and Interactive Technologies: International Tutorial and
Research Workshop, PIT 2006},
YEAR = {2006},
EDITOR = {Elisabeth Andre and Laila Dybkjaer and Wolfgang Minker and Heiko
Neumann and Michael Weber},
VOLUME = {4021},
SERIES = {Lecture Notes in Computer Science},
PAGES = {117 -- 128},
ADDRESS = {Kloster Irsee, Germany},
MONTH = {June},
PUBLISHER = {Springer Berlin / Heidelberg},
ABSTRACT = {Human-Robot Interaction (HRI) invariably involves dialogue about objects
in the environment in which the agents are situated. The paper focuses
on the issue of resolving discourse references to such visual objects.
The paper addresses the problem using strategies for intra-modal
fusion (identifying that different occurrences concern the same object),
and inter-modal fusion, (relating object references across different
modalities). Core to these strategies are sensorimotoric coordination,
and ontology-based mediation between content in differentmodalities.
The approach has been fully implemented, and is illustrated with
several working examples.},
DATE-ADDED = {2009-01-05 11:49:48 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
EE = {http://dx.doi.org/10.1007/11768029_12},
URL = {http://www.cognitivesystems.org/publications/kruijffetal06pit.pdf}
}
@INPROCEEDINGS{Skocaj/etal:2007,
AUTHOR = {D. Sko\v{c}aj and G. Berginc and B. Ridge and A. \v{S}timec and M.
Jogan and O. Vanek and A. Leonardis and M. Hutter and N. Hawes},
TITLE = {A System for Continuous Learning of Visual Concepts},
BOOKTITLE = {The 5th International Conference on Computer Vision Systems (ICVS
2007)},
YEAR = {2007},
ADDRESS = {Bielefeld, Germany},
MONTH = {March},
ABSTRACT = {We present an artificial cognitive system for learning visual concepts.
It comprises of vision, communication and manipulation sub- systems,
which provide visual input, enable verbal and non-verbal com- munication
with a tutor and allow interaction with a given scene. The main goal
is to learn associations between automatically extracted visual features
and words that describe the scene in an open-ended, continuous manner.
In particular, we address the problem of cross-modal learning of
visual properties and spatial relations. We introduce and analyse
several learning modes requiring different levels of tutor supervision.},
DATE-ADDED = {2009-01-05 11:48:02 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
URL = {http://www.cognitivesystems.org/publications/skocajetal07.pdf}
}
@INPROCEEDINGS{skocajVISAPP08,
AUTHOR = {D. Sko\v{c}aj and M. Kristan and A. Leonardis},
TITLE = {Continuous Learning of Simple Visual Concepts Using Incremental Kernel
Density Estimation},
BOOKTITLE = {International Conference on Computer Vision Theory and Applications},
YEAR = {2008},
PAGES = {598-604},
ADDRESS = {Funchal, Madeira, Portugal},
MONTH = {January},
ABSTRACT = {In this paper we propose a method for continuous learning of simple
visual concepts. The method continuously associates words describing
observed scenes with automatically extracted visual features. Since
in our setting every sample is labelled with multiple concept labels,
and there are no negative examples, reconstructive representations
of the incoming data are used. The associated features are modelled
with kernel density probability distribution estimates, which are
built incrementally. The proposed approach is applied to the learning
of object properties and spatial relations.},
OWNER = {danijels vicos cosy rscv DSSP2},
TIMESTAMP = {2008.01.10},
URL = {http://www.cognitivesystems.org/publications/skocajVISAPP08.pdf}
}
@INPROCEEDINGS{Sridharan/etal:2008a,
AUTHOR = {M. Sridharan and J. Wyatt and R. Dearden},
TITLE = {{HiPPo}: {H}ierarchical {POMDP}s for {P}lanning {I}nformation {P}rocessing
and {S}ensing {A}ctions on a {R}obot},
BOOKTITLE = {International Conference on Automated Planning and Scheduling (ICAPS)},
YEAR = {2008},
MONTH = {September 14-18},
ABSTRACT = {Flexible general purpose robots need to tailor their visual processing
to their task, on the fly. We propose a new approach to this within
a planning framework, where the goal is to plan a sequence of visual
operators to apply to the regions of interest (ROIs) in a scene.
We pose the visual processing problem as a Partially Observable Markov
Decision Process (POMDP). This requires probabilistic models of operator
effects to quantitatively capture the unreliability of the processing
actions, and thus reason precisely about trade-offs between plan
execution time and plan reliability. Since planning in practical
sized POMDPs is intractable we show how to ameliorate this intractability
somewhat for our domain by defining a hierarchical POMDP. We compare
the hierarchical POMDP approach with a Continual Planning (CP) approach.
On a real robot visual domain, we show empirically that all the planning
methods outperform naive application of all visual operators. The
key result is that the POMDP methods produce more robust plans than
either naive visual processing or the CP approach. In summary, we
believe that visual processing problems represent a challenging and
worthwhile domain for planning techniques, and that our hierarchical
POMDP based approach to them opens up a promising new line of research.},
ANNOTE = {Well, my first ICAPS paper on POMDP-based planning...},
BIB2HTML_FUNDING = {CoSy, CogX, Leverhulme},
BIB2HTML_PUBTYPE = {Refereed Conference},
BIB2HTML_RESCAT = {Vision, Planning, Robotics},
BIBAUTHOR = {smohan},
DATE-ADDED = {2009-01-04 19:57:34 +0000},
DATE-MODIFIED = {2009-01-06 09:03:50 +0000},
URL = {http://www.cognitivesystems.org/publications/sridharanetal08hippo.pdf}
}
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