Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour integration.

In this paper, we present a novel approach to human-robot control. Taking inspiration from behaviour-based robotics and self-organisation principles, we present an interfacing mechanism, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Instead of the user adapting to the interface and control paradigm, the proposed architecture allows the user to shape the control motifs in their way of preference, moving away from the case where the user has to read and understand an operation manual, or it has to learn to operate a specific device. Starting from a tabula rasa basis, the architecture is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole. Inherent properties of the architecture are presented and explained. At the same time, emergent properties are presented and investigated. As a whole, this paradigm of control is found to highlight the potential for a change in the paradigm of robotic control, and a new level in the taxonomy of human in the loop systems.

Exploring the Potential of Variational Autoencoders for Modeling Nonlinear Relationships in Psychological Data.

Latent variables analysis is an important part of psychometric research. In this context, factor analysis and other related techniques have been widely applied for the investigation of the internal structure of psychometric tests. However, these methods perform a linear dimensionality reduction under a series of assumptions that could not always be verified in psychological data. Predictive techniques, such as artificial neural networks, could complement and improve the exploration of latent space, overcoming the limits of traditional methods. In this study, we explore the latent space generated by a particular artificial neural network: the variational autoencoder. This autoencoder could perform a nonlinear dimensionality reduction and encourage the latent features to follow a predefined distribution (usually a normal distribution) by learning the most important relationships hidden in data. In this study, we investigate the capacity of autoencoders to model item-factor relationships in simulated data, which encompasses linear and nonlinear associations. We also extend our investigation to a real dataset. Results on simulated data show that the variational autoencoder performs similarly to factor analysis when the relationships among observed and latent variables are linear, and it is able to reproduce the factor scores. Moreover, results on nonlinear data show that, differently than factor analysis, it can also learn to reproduce nonlinear relationships among observed variables and factors. The factor score estimates are also more accurate with respect to factor analysis. The real case results confirm the potential of the autoencoder in reducing dimensionality with mild assumptions on input data and in recognizing the function that links observed and latent variables.

Artificial Neural Networks for Short-Form Development of Psychometric Tests: A Study on Synthetic Populations Using Autoencoders.

Short-form development is an important topic in psychometric research, which requires researchers to face methodological choices at different steps. The statistical techniques traditionally used for shortening tests, which belong to the so-called exploratory model, make assumptions not always verified in psychological data. This article proposes a machine learning-based autonomous procedure for short-form development that combines explanatory and predictive techniques in an integrative approach. The study investigates the item-selection performance of two autoencoders: a particular type of artificial neural network that is comparable to principal component analysis. The procedure is tested on artificial data simulated from a factor-based population and is compared with existent computational approaches to develop short forms. Autoencoders require mild assumptions on data characteristics and provide a method to predict long-form items' responses from the short form. Indeed, results show that they can help the researcher to develop a short form by automatically selecting a subset of items that better reconstruct the original item's responses and that preserve the internal structure of the long-form.

Enhancing early autism diagnosis through machine learning: Exploring raw motion data for classification.

In recent years, research has been demonstrating that movement analysis, utilizing machine learning methods, can be a promising aid for clinicians in supporting autism diagnostic process. Within this field of research, we aim to explore new models and delve into the detailed observation of certain features that previous literature has identified as prominent in the classification process. Our study employs a game-based tablet application to collect motor data. We use artificial neural networks to analyze raw trajectories in a "drag and drop" task. We compare a two-features model (utilizing only raw coordinates) with a four-features model (including velocities and accelerations). The aim is to assess the effectiveness of raw data analysis and determine the impact of acceleration on autism classification. Our results revealed that both models demonstrate promising accuracy in classifying motor trajectories. The four-features model consistently outperforms the two-features model, as evidenced by accuracy values (0.90 vs. 0.76). However, our findings support the potential of raw data analysis in objectively assessing motor behaviors related to autism. While the four-features model excels, the two-features model still achieves reasonable accuracy. Addressing limitations related to sample size and noise is essential for future research. Our study emphasizes the importance of integrating intelligent solutions to enhance and assist autism traditional diagnostic process and intervention, paving the way for more effective tools in assessing motor skills.

Experimental study on co-evolution of categorical perception and communication systems in humans.

In this paper, we present an experiment that integrates a semiotic investigation with a dynamical perspective on embodied social interactions. The primary objective is to study the emergence of a communication system between two interacting individuals, where no dedicated communication modalities are predefined and the only possible interaction is very simple, non-directional, and embodied. Throughout the experiment, we observe the following three phenomena: (1) the spontaneous emergence of turn-taking behaviour that allows communication in non-directional environments; (2) the development of an association between behaviours and perceptive categories; (3) the acquisition of novel meaning by exploiting the notion of complementary set theory.

A deep learning latent variable model to identify children with autism through motor abnormalities.

Introduction: Autism Spectrum Disorder (ASD) is a by-birth neurodevelopmental disorder difficult to diagnose owing to the lack of clinical objective and quantitative measures. Classical diagnostic processes are time-consuming and require many specialists' collaborative efforts to be properly accomplished. Most recent research has been conducted on automated ASD detection using advanced technologies. The proposed model automates ASD detection and provides a new quantitative method to assess ASD. Methods: The theoretical framework of our study assumes that motor abnormalities can be a potential hallmark of ASD, and Machine Learning may represent the method of choice to analyse them. In this study, a variational autoencoder, a particular type of Artificial Neural Network, is used to improve ASD detection by analysing the latent distribution description of motion features detected by a tablet-based psychometric scale. Results: The proposed ASD detection model revealed that the motion features of children with autism consistently differ from those of children with typical development. Discussion: Our results suggested that it could be possible to identify potential motion hallmarks typical for autism and support clinicians in their diagnostic process. Potentially, these measures could be used as additional indicators of disorder or suspected diagnosis.

Coding and educational robotics with peers: The C0D1NC experience to foster inclusion.

In the present paper, the experience of the C0D1NC project (Coding for inclusion) is described. In this project an innovative methodology based on peer-education is the core of the educational approach. High school students become "teachers" as they are trained to teach coding and robotics to younger students. This approach favors inclusion and digital inclusion. To affirm this, we evaluated different aspects: relations between peers, perceived self-efficacy, and attitude towards technology at the beginning of activities (pre-test) and the end (post-test). Results indicate that this approach can be effective to favor personal growth, improved relations between peers, and increased self-efficacy too.

Using Technology to Identify Children With Autism Through Motor Abnormalities.

Autism is a neurodevelopmental disorder typically assessed and diagnosed through observational analysis of behavior. Assessment exclusively based on behavioral observation sessions requires a lot of time for the diagnosis. In recent years, there is a growing need to make assessment processes more motivating and capable to provide objective measures of the disorder. New evidence showed that motor abnormalities may underpin the disorder and provide a computational marker to enhance assessment and diagnostic processes. Thus, a measure of motor patterns could provide a means to assess young children with autism and a new starting point for rehabilitation treatments. In this study, we propose to use a software tool that through a smart tablet device and touch screen sensor technologies could be able to capture detailed information about children's motor patterns. We compared movement trajectories of autistic children and typically developing children, with the aim to identify autism motor signatures analyzing their coordinates of movements. We used a smart tablet device to record coordinates of dragging movements carried out by 60 children (30 autistic children and 30 typically developing children) during a cognitive task. Machine learning analysis of children's motor patterns identified autism with 93% accuracy, demonstrating that autism can be computationally identified. The analysis of the features that most affect the prediction reveals and describes the differences between the groups, confirming that motor abnormalities are a core feature of autism.

Teachers' Patterns of Management of Conflicts With Students: A Study in Five European Countries.

The present study proposed an application of the Rahim' Model of Conflict Management, and aimed to explore the styles of handling interpersonal conflicts with students adopted by teachers from five European countries (Italy, Spain, Germany, Belgium, Austria), identifying specific patterns and evaluating potential differences according to teachers' Gender, Age, Working Seniority and Country of belonging. Overall, 589 secondary school teachers completed a questionnaire consisting of Socio-demographic characteristics and the Rahim Organizational Conflict Inventory-II (ROCI-II, Form B). Non-hierarchical k-means cluster analysis was employed to derive patterns of conflict management, identifying four patterns labelled as Multi-strategic and Engaged, Multi-strategic and Solution-Oriented, Control-Oriented and Avoidant, and Mediating. Significant differences between countries were found in the numbers of teachers grouped across the four patterns. Findings identified stable and meaningful patterns for evaluating teachers' styles of management of interpersonal conflicts with students and for promoting teachers' effectiveness in conflict management in the European school context.

Educational Robotics to Foster and Assess Social Relations in Students' Groups.

Robotics has gained, in recent years, a significant role in educational processes that take place in formal, non-formal, and informal contexts, mainly in the subjects related to STEM (science, technology, engineering, and mathematics). Indeed, educational robotics (ER) can be fruitfully applied also to soft skills, as it allows promoting social links between students, if it is proposed as a group activity. Working in a group to solve a problem or to accomplish a task in the robotics field allows fostering new relations and overcoming the constraints of the established links associated to the school context. Together with this aspect, ER offers an environment where it is possible to assess group dynamics by means of sociometric tools. In this paper, we will describe an example of how ER can be used to foster and assess social relations in students' group. In particular, we report a study that compares: (1) a laboratory with robots, (2) a laboratory with Scratch for coding, and (3) a control group. This study involved Italian students attending middle school. As the focus of this experiment was to study relations in students' group, we used the sociometric tools proposed by Moreno. Results show that involving students in a robotics lab can effectively foster relations between students and, jointly with sociometric tools, can be employed to portrait group dynamics in a synthetic and manageable way.

Toward a Machine Learning Predictive-Oriented Approach to Complement Explanatory Modeling. An Application for Evaluating Psychopathological Traits Based on Affective Neurosciences and Phenomenology.

This paper presents a procedure that aims to combine explanatory and predictive modeling for the construction of new psychometric questionnaires based on psychological and neuroscientific theoretical grounding. It presents the methodology and the results of a procedure for items selection that considers both the explanatory power of the theory and the predictive power of modern computational techniques, namely exploratory data analysis for investigating the dimensional structure and artificial neural networks (ANNs) for predicting the psychopathological diagnosis of clinical subjects. Such blending allows deriving theoretical insights on the characteristics of the items selected and their conformity with the theoretical framework of reference. At the same time, it permits the selection of those items that have the most relevance in terms of prediction by therefore considering the relationship of the items with the actual psychopathological diagnosis. Such approach helps to construct a diagnostic tool that both conforms with the theory and with the individual characteristics of the population at hand, by providing insights on the power of the scale in precisely identifying out-of-sample pathological subjects. The proposed procedure is based on a sequence of steps that allows the construction of an ANN capable of predicting the diagnosis of a group of subjects based on their item responses to a questionnaire and subsequently automatically selects the most predictive items by preserving the factorial structure of the scale. Results show that the machine learning procedure selected a set of items that drastically improved the prediction accuracy of the model (167 items reached a prediction accuracy of 88.5%, that is 25.6% of incorrectly classified), compared to the predictions obtained using all the original items (260 items with a prediction accuracy of 74.4%). At the same time, it reduced the redundancy of the items and eliminated those with less consistency.

Emergence of Leadership in a Group of Autonomous Robots.

In this paper we examine the factors contributing to the emergence of leadership in a group, and we explore the relationship between the role of the leader and the behavioural capabilities of other individuals. We use a simulation technique where a group of foraging robots must coordinate to choose between two identical food zones in order to forage collectively. Behavioural and quantitative analysis indicate that a form of leadership emerges, and that groups with a leader are more effective than groups without. Moreover, we show that the most skilled individuals in a group tend to be the ones that assume a leadership role, supporting biological findings. Further analysis reveals the emergence of different "styles" of leadership (active and passive).

The ITALK project: a developmental robotics approach to the study of individual, social, and linguistic learning.

This article presents results from a multidisciplinary research project on the integration and transfer of language knowledge into robots as an empirical paradigm for the study of language development in both humans and humanoid robots. Within the framework of human linguistic and cognitive development, we focus on how three central types of learning interact and co-develop: individual learning about one's own embodiment and the environment, social learning (learning from others), and learning of linguistic capability. Our primary concern is how these capabilities can scaffold each other's development in a continuous feedback cycle as their interactions yield increasingly sophisticated competencies in the agent's capacity to interact with others and manipulate its world. Experimental results are summarized in relation to milestones in human linguistic and cognitive development and show that the mutual scaffolding of social learning, individual learning, and linguistic capabilities creates the context, conditions, and requisites for learning in each domain. Challenges and insights identified as a result of this research program are discussed with regard to possible and actual contributions to cognitive science and language ontogeny. In conclusion, directions for future work are suggested that continue to develop this approach toward an integrated framework for understanding these mutually scaffolding processes as a basis for language development in humans and robots.

Autonomous learning in humanoid robotics through mental imagery.

In this paper we focus on modeling autonomous learning to improve performance of a humanoid robot through a modular artificial neural networks architecture. A model of a neural controller is presented, which allows a humanoid robot iCub to autonomously improve its sensorimotor skills. This is achieved by endowing the neural controller with a secondary neural system that, by exploiting the sensorimotor skills already acquired by the robot, is able to generate additional imaginary examples that can be used by the controller itself to improve the performance through a simulated mental training. Results and analysis presented in the paper provide evidence of the viability of the approach proposed and help to clarify the rational behind the chosen model and its implementation.

The grounding of higher order concepts in action and language: a cognitive robotics model.

In this paper we present a neuro-robotic model that uses artificial neural networks for investigating the relations between the development of symbol manipulation capabilities and of sensorimotor knowledge in the humanoid robot iCub. We describe a cognitive robotics model in which the linguistic input provided by the experimenter guides the autonomous organization of the robot's knowledge. In this model, sequences of linguistic inputs lead to the development of higher-order concepts grounded on basic concepts and actions. In particular, we show that higher-order symbolic representations can be indirectly grounded in action primitives directly grounded in sensorimotor experiences. The use of recurrent neural network also permits the learning of higher-order concepts based on temporal sequences of action primitives. Hence, the meaning of a higher-order concept is obtained through the combination of basic sensorimotor knowledge. We argue that such a hierarchical organization of concepts can be a possible account for the acquisition of abstract words in cognitive robots.

Manipulating objects and telling words: a study on concrete and abstract words acquisition.

Four experiments (E1-E2-E3-E4) investigated whether different acquisition modalities lead to the emergence of differences typically found between concrete and abstract words, as argued by the words as tools (WAT) proposal. To mimic the acquisition of concrete and abstract concepts, participants either manipulated novel objects or observed groups of objects interacting in novel ways (Training 1). In TEST 1 participants decided whether two elements belonged to the same category. Later they read the category labels (Training 2); labels could be accompanied by an explanation of their meaning. Then participants observed previously seen exemplars and other elements, and were asked which of them could be named with a given label (TEST 2). Across the experiments, it was more difficult to form abstract than concrete categories (TEST 1); even when adding labels, abstract words remained more difficult than concrete words (TEST 2). TEST 3 differed across the experiments. In E1 participants performed a feature production task. Crucially, the associations produced with the novel words reflected the pattern evoked by existing concrete and abstract words, as the first evoked more perceptual properties. In E2-E3-E4, TEST 3 consisted of a color verification task with manual/verbal (keyboard-microphone) responses. Results showed the microphone use to have an advantage over keyboard use for abstract words, especially in the explanation condition. This supports WAT: due to their acquisition modality, concrete words evoke more manual information; abstract words elicit more verbal information. This advantage was not present when linguistic information contrasted with perceptual one. Implications for theories and computational models of language grounding are discussed.

Grounding Action Words in the Sensorimotor Interaction with the World: Experiments with a Simulated iCub Humanoid Robot.

This paper presents a cognitive robotics model for the study of the embodied representation of action words. The present research will present how an iCub humanoid robot can learn the meaning of action words (i.e. words that represent dynamical events that happen in time) by physically interacting with the environment and linking the effects of its own actions with the behavior observed on the objects before and after the action. The control system of the robot is an artificial neural network trained to manipulate an object through a Back-Propagation-Through-Time algorithm. We will show that in the presented model the grounding of action words relies directly to the way in which an agent interacts with the environment and manipulates it.

The emergence of communication in evolutionary robots.

Evolutionary robotics is a biologically inspired approach to robotics that is advantageous to studying the evolution of communication. A new model for the emergence of communication is developed and tested through various simulation experiments. In the first simulation, the emergence of simple signalling behaviour is studied. This is used to investigate the inter-relationships between communication abilities, namely linguistic production and comprehension, and other behavioural skills. The model supports the hypothesis that the ability to form categories from direct interaction with an environment constitutes the grounds for subsequent evolution of communication and language. In the second simulation, evolutionary robots are used to study the emergence of simple syntactic categories, e.g. action names (verbs). Comparisons between the two simulations indicate that the signalling lexicon emerged in the first simulation follows the evolutionary pattern of nouns, as observed in related models on the evolution of syntactic categories. Results also support the language-origin hypothesis on the fact that nouns precede verbs in both phylogenesis and ontogenesis. Further extensions of this new evolutionary robotic model for testing hypotheses on language origins are also discussed.

Coevolution of active vision and feature selection.

We show that complex visual tasks, such as position- and size-invariant shape recognition and navigation in the environment, can be tackled with simple architectures generated by a coevolutionary process of active vision and feature selection. Behavioral machines equipped with primitive vision systems and direct pathways between visual and motor neurons are evolved while they freely interact with their environments. We describe the application of this methodology in three sets of experiments, namely, shape discrimination, car driving, and robot navigation. We show that these systems develop sensitivity to a number of oriented, retinotopic, visual-feature-oriented edges, corners, height, and a behavioral repertoire to locate, bring, and keep these features in sensitive regions of the vision system, resembling strategies observed in simple insects.