Dimensionality reduction for probabilistic movement primitives

Humans as well as humanoid robots can use a large number of degrees of freedom to solve very complex motor tasks. The high-dimensionality of these motor tasks adds difficulties to the control problem and machine learning algorithms. However, it is well known that the intrinsic dimensionality of many human movements is small in comparison to the number of employed DoFs, and hence, the movements can be represented by a small number of synergies encoding the couplings between DoFs. In this paper, we want to apply Dimensionality Reduction (DR) to a recent movement representation used in robotics, called Probabilistic Movement Primitives (ProMP). While ProMP have been shown to have many benefits, they suffer with the high-dimensionality of a robotic system as the number of parameters of a ProMP scales quadratically with the dimensionality. We use probablistic dimensionality reduction techniques based on expectation maximization to extract the unknown synergies from a given set of demonstrations. The ProMP representation is now estimated in the low-dimensional space of the synergies. We show that our dimensionality reduction is more efficient both for encoding a trajectory from data and for applying Reinforcement Learning with Relative Entropy Policy Search (REPS)

User evaluation of an interactive learning framework for single-arm and dual-arm robots

The final publication is available at link.springer.comSocial robots are expected to adapt to their users and, like their human counterparts, learn from the interaction. In our previous work, we proposed an interactive learning framework that enables a user to intervene and modify a segment of the robot arm trajectory. The framework uses gesture teleoperation and reinforcement learning to learn new motions. In the current work, we compared the user experience with the proposed framework implemented on the single-arm and dual-arm Barrett’s 7-DOF WAM robots equipped with a Microsoft Kinect camera for user tracking and gesture recognition. User performance and workload were measured in a series of trials with two groups of 6 participants using two robot settings in different order for counterbalancing. The experimental results showed that, for the same task, users required less time and produced shorter robot trajectories with the single-arm robot than with the dual-arm robot. The results also showed that the users who performed the task with the single-arm robot first experienced considerably less workload in performing the task with the dual-arm robot while achieving a higher task success rate in a shorter time.Peer ReviewedPostprint (author's final draft

Pattern selection in a lattice of pulse-coupled oscillators

We study spatio-temporal pattern formation in a ring of N oscillators with inhibitory unidirectional pulselike interactions. The attractors of the dynamics are limit cycles where each oscillator fires once and only once. Since some of these limit cycles lead to the same pattern, we introduce the concept of pattern degeneracy to take it into account. Moreover, we give a qualitative estimation of the volume of the basin of attraction of each pattern by means of some probabilistic arguments and pattern degeneracy, and show how are they modified as we change the value of the coupling strength. In the limit of small coupling, our estimative formula gives a perfect agreement with numerical simulations.Comment: 7 pages, 8 figures. To be published in Physical Review

On Synchronization in a Lattice Model of Pulse-Coupled Oscillators

We analyze the collective behavior of a lattice model of pulse-coupled oscillators. By means of computer simulations we find the relation between the intrinsic dynamics of each member of the population and their mutual interaction that ensures, in a general context, the existence of a fully synchronized regime. This condition turns out to be the same than the obtained for the globally coupled population. When the condition is not completely satisfied we find different spatial structures. This also gives some hints about self-organized criticality.Comment: 4 pages, RevTex, 1 PostScript available upon request, To appear in Phys. Rev. Let

Exploring Spirituality in Teaching Within a Christian School Context Through Collaborative Action Research

This article reports on a collaborative action research project conducted in New Zealand, during 2012, exploring spirituality in teaching within a Christian school context. The experienced primary school teacher participant chose to take action around the issue of personal fear and insecurity which were believed to be hindering professional growth and relationships. Through self-directed inquiry, critical reflective journaling, Bible study, fellowship and prayer with trusted friends, the teacher experienced a renewed sense of peace and freedom in Christ. This personal transformation was believed to be influential on subsequent professional practice, assisting the teacher to become more relational, responsive and compassionate. The findings provide a rich description of the participant’s spirituality, the lived reality of a person’s spiritual life. This report will be of interest to teachers, teacher-leaders and teacher-educators who desire to explore Christian spirituality through practitioner-led inquiry

Nanoscale imaging of buried topological defects with quantitative X-ray magnetic microscopy

This work is licensed under a Creative Commons Attribution 4.0 International License.-- et al.Advances in nanoscale magnetism increasingly require characterization tools providing detailed descriptions of magnetic configurations. Magnetic transmission X-ray microscopy produces element specific magnetic domain images with nanometric lateral resolution in films up to ∼100 nm thick. Here we present an imaging method using the angular dependence of magnetic contrast in a series of high resolution transmission X-ray microscopy images to obtain quantitative descriptions of the magnetization (canting angles relative to surface normal and sense). This method is applied to 55-120 nm thick ferromagnetic NdCo 5 layers (canting angles between 65° and 22°), and to a NdCo 5 film covered with permalloy. Interestingly, permalloy induces a 43° rotation of Co magnetization towards surface normal. Our method allows identifying complex topological defects (merons or 1/2 skyrmions) in a NdCo 5 film that are only partially replicated by the permalloy overlayer. These results open possibilities for the characterization of deeply buried magnetic topological defects, nanostructures and devices.Work supported by Spanish MINECO under grant FIS2013-45469. A. Hierro-Rodriguez acknowledges support from FCT of Portugal (Grant SFRH/BPD/90471/2012). C. Blanco-Roldán thanks support from CSIC JAE Predoc Program.Peer Reviewe

Synchronization, Diversity, and Topology of Networks of Integrate and Fire Oscillators

We study synchronization dynamics of a population of pulse-coupled oscillators. In particular, we focus our attention in the interplay between networks topological disorder and its synchronization features. Firstly, we analyze synchronization time $T$ in random networks, and find a scaling law which relates $T$ to networks connectivity. Then, we carry on comparing synchronization time for several other topological configurations, characterized by a different degree of randomness. The analysis shows that regular lattices perform better than any other disordered network. The fact can be understood by considering the variability in the number of links between two adjacent neighbors. This phenomenon is equivalent to have a non-random topology with a distribution of interactions and it can be removed by an adequate local normalization of the couplings.Comment: 6 pages, 8 figures, LaTeX 209, uses RevTe

Identities at odds: embedded and implicit language policing in the internationalized workplace

This study offers an interaction analytic account of how linguistic identities in internationalized workplaces in Denmark are indexed against members' institutional positions in particular interactional contexts. Where language policy may not be explicitly articulated between members, it is still embedded in how participants micro-manage their interactions and implicit in how members display orientations to deviance, in the case of encountering others in the workplace whose language repertoires or preferences do not meet with expectation pertaining to the institutional position they hold. The study uses recordings of naturally occurring interaction in different international workplace settings and argues for greater attention to be paid to the actual language-policy practices in international workplace settings, as an entry point into developing a more nuanced understanding of the practices through which professional identities are brought about, affirmed or contested, and the linguistic considerations that are implicated in this