Open World Assistive Grasping Using Laser Selection

Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is comprised of a robot arm from a Rethink Robotics Baxter robot mounted to an assistive mobility device, a control system for that arm, and a user interface with a variety of access methods for selecting desired objects. The system uses grasp detection to allow previously unseen objects to be picked up by the system. The grasp detection algorithms also allow for objects to be grasped in cluttered environments. We evaluate our system in a number of experiments on a large variety of objects. Overall, we achieve an object selection success rate of 88% and a grasp detection success rate of 90% in a non-mobile scenario, and success rates of 89% and 72% in a mobile scenario

Pyro: A Python-Based Versatile Programming Environment For Teaching Robotics

In this article we describe a programming framework called Pyro, which provides a set of abstractions that allows students to write platform-independent robot programs. This project is unique because of its focus on the pedagogical implications of teaching mobile robotics via a top-down approach. We describe the background of the project, its novel abstractions, its library of objects, and the many learning modules that have been created from which curricula for different types of courses can be drawn. Finally, we explore Pyro from the students\u27 perspective in a case study

LLI-UAM Team at FinancES 2023: Noise, Data Augmentation and Hallucinations

Proceedings of the Iberian Languages Evaluation Forum (IberLEF 2023) co-located with the Conference of the Spanish Society for Natural Language Processing (SEPLN 2023), Jaén, Spain, September 26, 2023This paper describes the T5-based system developed for FinancES 2023 Shared Task by the Laboratorio de Lingüística Informática at UAM. The LLI-UAM system achieved a good ranking in all the tasks. The paper also describes some noise and data augmentation or hallucination mitigation experiments. In particular, we used corrected versions of the datasets to evaluate the impact of noise. Moreover, ChatGPT was utilised to augment the data and improve accuracy in tagging. We also describe the presence of hallucinations. Ultimately, we identify the best model for each task and draw conclusions based on our findingsThis publication is part of the project “Computational linguistic methods for readability and simplification of financial narratives.” CLARA-FINT (PID2020-116001RB-C31), funded by the Spanish Ministry of Science and Innovation and the State Research Agenc

La desaparición forzada de personas y los límites de la representación cinematográfica en "Los rubios"

Desde el inicio de la democracia, el cine nacional se ha ocupado de representar con asiduidad uno de los acontecimientos más trágicos de la historia argentina, la última dictadura militar. A partir de los años ochenta, fueron cada vez más numerosos los films que, desde diferentes registros (ficción y documental), empezaron a explicitar en sus contenidos un conjunto de aspectos relacionados al Proceso de Reorganización Nacional: la brutal represión llevada a cabo por el estado nacional, los avatares del exilio provocados por la persecución, el funcionamiento de los centros clandestinos de detención, la concreción de un plan sistemático de desaparición forzada de personas y la connivencia entre los sectores militares y los grupos económicos más concentrados. Esta constante revisión del pasado reciente elaborada por el cine de la democracia forjó un acervo cinematográfico sobre la dictadura y, a su vez, contribuyó a darle forma a la memoria social del período. Uno de los tópicos más recurrentes en el cine nacional fue el de la desaparición forzada de personas, en tanto representó la emergencia de un fenómeno de una magnitud y una atrocidad inusitada.Jornadas realizadas junto con el I Encuentro Latinoamericano de Metodología de las Ciencias Sociales.Facultad de Humanidades y Ciencias de la Educació

The Pyro toolkit for AI and robotics

This article introduces Pyro, an open-source Python robotics toolkit for exploring topics in AI and robotics. We present key abstractions that al- low Pyro controllers to run unchanged on a variety of real and simulated robots. We demonstrate Py- ro’s use in a set of curricular modules. We then de- scribe how Pyro can provide a smooth transition for the student from symbolic agents to real-world robots, which significantly reduces the cost of learning to use robots. Finally we show how Pyro has been successfully integrated into existing AI and robotics courses

Pyro: A Python-based Versatile Programming Environment for Teaching Robotics

In this paper we describe a programming framework called Pyro which provides a set of abstractions that allows students to write platform­independent robot programs. This project is unique because of its focus on the pedagogical implications of teaching mobile robotics via a top­down approach. We describe the background of the project, novel abstractions created, its library of objects, and the many learning modules that have been created from which curricula for different types of courses can be drawn. Finally, we explore Pyro from the students\u27 perspective in a case study

The Pyro toolkit for AI and robotics

This article introduces Pyro, an open-source Python robotics toolkit for exploring topics in AI and robotics. We present key abstractions that al- low Pyro controllers to run unchanged on a variety of real and simulated robots. We demonstrate Py- ro’s use in a set of curricular modules. We then de- scribe how Pyro can provide a smooth transition for the student from symbolic agents to real-world robots, which significantly reduces the cost of learning to use robots. Finally we show how Pyro has been successfully integrated into existing AI and robotics courses

A mediunidade e a autenticidade, uma leitura fenomenológico-existencial

Objetivo: Este trabalho buscou uma possível forma de compreensão do fenômeno mediúnico através do olhar hermenêutico e como a mediunidade se encontra entrelaçada ao conceito de autenticidade de Heidegger. Método: O trabalho estudou uma entrevista que foi realizada com uma médium, buscando compreender a experiência desta, além de buscar as distintas literaturas como forma de melhor aproximar o leitor do fenômeno em questão. Pela própria natureza da fenomenologia a pesquisa se utilizou de método qualitativo, mais expecificamente do método hermenêutico, ou seja, buscou­se a interpretação que atenta para a noção de tornar algo compreensível e que vá além do sentido literal do fenômeno. Resultados: Este estudo mostrou, ao analisar a entrevista, que a mediunidade foi vivida com uma atitude destoante e a médium foi freqüentemente convocada a vivenciar exclusivamente a impessoalidade Heideggeriana, todavia quando a mediunidade foi vivida autenticamente, o empoderamento de si fez com que a médium tivesse mais potencia a sua volta, se sentisse mais parte do mundo e agisse nele de maneira socialmente bem vista. Conclusão: O Dasein que tem uma experiência que não condiz com o impessoal, neste caso a mediunidade, acaba tendo grandes possibilidades de viver um sofrimento considerável, já que a sua forma de sentir o mundo e se relacionar com ele não consegue corresponder as expectativas que o impessoal cobra, e neste caso cobra com veemência. Foi visto que quando o dasein busca viver de maneira própria àquilo que emerge de si mesmo, o impessoal diminui a sua presença no Dasein e a relação com a sociedade torna­se mais possível e mais saluta