A robotic system for extracting and imitating gestures in Human-Robot Interaction is presented. Using the iCub robot and RGB-D sensors, contextually important time points are used to mark and ground the gestures. The benefits of this approach are that the gesture imitation appears both visually and behaviourally realistic, the cognitive and computation loads are reduced and no predefined mappings or speech-based annotations are needed. The system is adaptive to individual users and contributes to the creation and maintenance of a smoother interaction.

We describe the KELVIN system for extracting entities and relations from large text collections and its use in the TAC Knowledge Base Population Cold Start task run by the U.S. National Institute of Standards and Technology. The Cold Start task starts with an empty knowledge base defined by an ontology or entity types, properties and relations. Evaluations in 2012 and 2013 were done using a collection of text from local Web and news to de-emphasize the linking entities to a background knowledge bases such as Wikipedia. Interesting features of KELVIN include a cross-document entity coreference module based on entity mentions, removal of suspect intra-document conference chains, a slot value consolidator for entities, the application of inference rules to expand the number of asserted facts and a set of analysis and browsing tools supporting development.

An appealing alternative to tediously specifying robot behaviors in response to particular image features is to have the robot’s behavior be induced by human decisions made when piloting the robot. This paper presents one promising approach to creating this alternative. A human pilots a camera-equipped robot, which builds a representation of its target environment using Growing Neural Gas (GNG). The robot associates an action with each GNG node based on what the human pilot was doing while the node was active. When running autonomously, the robot chooses the action associated with the node that is the closest match to the current input image. Preliminary results suggest that the approach has potential, but that subsequent alteration of the actions induced for some of the GNG nodes is important for acceptable performance.

A social robot should be able to understand human’s profile (i.e., human’s emotions and personality), so as to make the robot able to behave appropriately to the multimodal interaction context. This research addresses the online recognition of emotions based on a new fuzzy-based methodology. It also focuses on investigating how could a match between the human’s and the robot’s personalities influence interaction. Furthermore, it studies the automatic generation of head-arm metaphoric gestures under different emotional states based on the prosodic cues of the interacting human. The conducted experiments have been validated with NAO robot from Aldebaran Robotics and ALICE robot from Hanson Robotics.

In order to successfully interact with multiple humans in social situations, an intelligent robot should have the ability to track multi-humans, and understand their motion intentions. We formalize this problem as a hidden Markov model, and estimate the posterior densities by particle filtering over sets approach. Our approach avoids directly performing observation-to-target association by defining a set as a joint state. The human identification problem is then solved in an expectation-maximization way. We evaluate the effectiveness of our approach by both benchamark test and real robot experiments.

Using geospatial methods, this paper informs the evolving field of research on the diffusion of residential Third Party Owned PV systems by analyzing 1) the spatial distribution of TPO systems, and 2) the influence of demographics on the adoption on the local level. This research is part of a multidisciplinary study into the diffusion of solar technology (SEEDS), using San Diego County as focus area. Our findings reveal a significant clustering of TPO PV adoption in San Diego County. TPO systems reached a similarly high market share across a large area in the central county in contrast to the installation of host-owned systems, which have been less evenly distributed across single-family households in the same area. The diffusion of TPO systems in San Diego County can be partially explained by looking at median income and percentage of people born in the US. The explanatory power of the model varies across the region.

The need for health providers to share information is a pressing need in our ever more connected world. A patient's health information should seamlessly flow from labs to hospitals to primary care offices. To address this need, in this paper we present the Health E-Match, which focuses on the matching health terms in support of semantic interoperability. Health E-Match determines the semantic similarity between data items, realizing, for instance, that "BHGC (UR)" and "BETA-HCG (QUAL)" both refer to the same pregnancy test, known as "Beta human chorionic gonadotropin, urine qualitative." Our approach is grounded in probabilistic machine learning, and leverages several sophisticated methods for comparing the similarity between medical data items beyond simple edit distance. We present two large scale, real-world experiments to verify that our approach is both accurate and has the ability to eventually be "universal" in that models trained on one set of data translate to strong performance on data from a completely different provider.

A paradigm of case-supported principle-based behavior (CPB) is proposed to help ensure ethical behavior of autonomous machines. We argue that ethically significant behavior of autonomous systems should be guided by explicit ethical principles determined through a consensus of ethicists. Such a consensus is likely to emerge in many areas in which autonomous systems are apt to be deployed and for the actions they are liable to undertake, as we are more likely to agree on how machines ought to treat us than on how human beings ought to treat one another. Given such a consensus, particular cases of ethical dilemmas where ethicists agree on the ethically relevant features and the right course of action can be used to help discover principles needed for ethical guidance of the behavior of autonomous systems. Such principles help ensure the ethical behavior of complex and dynamic systems and further serve as a basis for justification of their actions as well as a control abstraction for managing unanticipated behavior. The requirements, methods, implementation, and evaluation components of the CPB paradigm are detailed.

Motivated by generating personalized recommendations using ordinal (or preference) data, we study the question of learning a mixture of MultiNomial Logit (MNL) model, a parameterized class of distributions over permutations, from partial ordinal or preference data (e.g. pair-wise comparisons). Despite its long standing importance across disciplines including social choice, operations research and revenue management, little is known about this question. In case of single MNL models (no mixture), computationally and statistically tractable learning from pair-wise comparisons is feasible. However, even learning mixture with two MNL components is infeasible in general. Given this state of affairs, we seek conditions under which it is feasible to learn the mixture model in both computationally and statistically efficient manner. We present a sufficient condition as well as an efficient algorithm for learning mixed MNL models from partial preferences/comparisons data. In particular, a mixture of $r$ MNL components over $n$ objects can be learnt using samples whose size scales polynomially in $n$ and $r$ (concretely, $r^{3.5}n^3(log n)^4$, with $r\ll n^{2/7}$ when the model parameters are sufficiently incoherent). The algorithm has two phases: first, learn the pair-wise marginals for each component using tensor decomposition; second, learn the model parameters for each component using Rank Centrality introduced by Negahban et al. In the process of proving these results, we obtain a generalization of existing analysis for tensor decomposition to a more realistic regime where only partial information about each sample is available.

Crowdsourcing is a popular paradigm for effectively collecting labels at low cost. The Dawid-Skene estimator has been widely used for inferring the true labels from the noisy labels provided by non-expert crowdsourcing workers. However, since the estimator maximizes a non-convex log-likelihood function, it is hard to theoretically justify its performance. In this paper, we propose a two-stage efficient algorithm for multi-class crowd labeling problems. The first stage uses the spectral method to obtain an initial estimate of parameters. Then the second stage refines the estimation by optimizing the objective function of the Dawid-Skene estimator via the EM algorithm. We show that our algorithm achieves the optimal convergence rate up to a logarithmic factor. We conduct extensive experiments on synthetic and real datasets. Experimental results demonstrate that the proposed algorithm is comparable to the most accurate empirical approach, while outperforming several other recently proposed methods.