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Full-Text Articles in Engineering
A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian M. Lyons, James Finocchiaro, Misha Novitzky, Chris Korpela
A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian M. Lyons, James Finocchiaro, Misha Novitzky, Chris Korpela
Faculty Publications
Robot software developed in simulation often does not be- have as expected when deployed because the simulation does not sufficiently represent reality - this is sometimes called the `reality gap' problem. We propose a novel algorithm to address the reality gap by injecting real-world experience into the simulation. It is assumed that the robot program (control policy) is developed using simulation, but subsequently deployed on a real system, and that the program includes a performance objective monitor procedure with scalar output. The proposed approach collects simulation and real world observations and builds conditional probability functions. These are used to generate …
A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian Lyons, James Finocchiaro, Misha Novitsky, Chris Korpela
A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian Lyons, James Finocchiaro, Misha Novitsky, Chris Korpela
Faculty Publications
Robot software developed in simulation often does not be- have as expected when deployed because the simulation does not sufficiently represent reality - this is sometimes called the `reality gap' problem. We propose a novel algorithm to address the reality gap by injecting real-world experience into the simulation. It is assumed that the robot program (control policy) is developed using simulation, but subsequently deployed on a real system, and that the program includes a performance objective monitor procedure with scalar output. The proposed approach collects simulation and real world observations and builds conditional probability functions. These are used to generate …
Humanoid Robots Supporting Children’S Learning In An Early Childhood Setting, Helen Crompton, Kristen Gregory, Diane Burke
Humanoid Robots Supporting Children’S Learning In An Early Childhood Setting, Helen Crompton, Kristen Gregory, Diane Burke
Teaching & Learning Faculty Publications
This qualitative study explored the affordances provided by the integration of the NAO humanoid robot in three preschool classrooms. Using the Head Start Early Learning Outcomes Framework as a lens, the researchers qualitatively analyzed data from focus groups, observations, field notes and student artifacts, using grounded coding to uncover language and communication, physical, cognitive and social–emotional learning experiences for children. The researchers also examined interactions between the robot, children and teachers to identify successes and challenges experienced during the integration. Findings indicate the robot provided opportunities for student development in all learning domains. Students were intellectually curious about the robot; …
Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank
Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank
Computer Science Faculty Research and Scholarship
This paper describes and tests a developmental architecture that enables a robot to explore its world, to find and remember interesting states, to associate these states with grounded goal representations, and to generate action sequences so that it can re-visit these states of interest. The model is composed of feed-forward neural networks that learn to make predictions at two levels through a dual mechanism of motor babbling for discovering the interesting goal states and instant replay learning for developing the grounded goal representations. We compare the performance of the model with grounded goal representations versus random goal representations, and find …
A Cognitive Robotics Approach To Comprehending Human Language And Behaviors, Deryle W. Lonsdale, D. Paul Benjamin, Damian Lyons
A Cognitive Robotics Approach To Comprehending Human Language And Behaviors, Deryle W. Lonsdale, D. Paul Benjamin, Damian Lyons
Faculty Publications
The ADAPT project is a collaboration of researchers in linguistics, robotics and artificial intelligence at three universities. We are building a complete robotic cognitive architecture for a mobile robot designed to interact with humans in a range of environments, and which uses natural language and models human behavior. This paper concentrates on the HRI aspects of ADAPT, and especially on how ADAPT models and interacts with humans.