Alle Publikationen
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2017
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(2017): Building Multiversal Semantic Maps for Mobile Robot Operation. In: KNOWLEDGE-BASED SYSTEMS 119, S. 257-272. DOI: 10.1016/j.knosys.2016.12.016
DOI: https://doi.org/10.1016/j.knosys.2016.12.016 Abstract: Semantic maps augment metric-topological maps with meta-information, i.e. l semantic knowledge aimed at the planning and execution of high-level robotic tasks. Semantic knowledge typically encodes human-like concepts, like types of objects and rooms, which are connected to sensory data when symbolic representations of percepts from the robot workspace are grounded to those concepts. Such a symbol grounding is usually carried out by algorithms that individually categorize each symbol and provide a crispy outcome – a symbol is either a member of a category or not. Such approach is valid for a variety of tasks, but it fails at: (i) dealing with the uncertainty inherent to the grounding process, and (ii) jointly exploiting the contextual relations among concepts (e.g. microwaves are usually in kitchens). This work provides a solution for probabilistic symbol grounding that overcomes these limitations. Concretely, we rely on Conditional Random Fields (CRFs) to model and exploit contextual relations, and to provide measurements about the uncertainty coming from the possible groundings in the form of beliefs (e.g. an object can be categorized (grounded) as a microwave or as a nightstand with beliefs 0.6 and 0.4, respectively). Our solution is integrated into a novel semantic map representation called Multiversal Semantic Map (MvSmap), which keeps the sets of different groundings, or universes, as instances of ontologies annotated with the obtained beliefs for their posterior exploitation. The suitability of our proposal has been proven with the Robot@Home dataset, a repository that contains challenging multi-modal sensory information gathered by a mobile robot in home environments. (PsycINFO Database Record (c) 2017 APA, all rights reserved)
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(2017) : Learning behavioral norms in uncertain and changing contexts: 2017 8th IEEE International Conference on Cognitive Infocommunications (CogInfoCom): Debrecen, Hungary: IEEE, S. 000301-000306
DOI: https://doi.org/10.1109/CogInfoCom.2017.8268261 Abstract: Human behavior is often guided by social and moral norms. Robots that enter human societies must therefore behave in norm-conforming ways as well to increase coordination, predictability, and safety in human-robot interactions. However, human norms are context-specific and laced with uncertainty, making the representation, learning, and communication of norms challenging. We provide a formal representation of norms using deontic logic, Dempster-Shafer Theory, and a machine learning algorithm that allows an artificial agent to learn norms under uncertainty from human data. We demonstrate a novel cognitive capability with which an agent can dynamically learn norms while being exposed to distinct contexts, recognizing the unique identity of each context and the norms that apply in it.
Keywords: Artificial agent, behavioral norms, behavioural sciences computing, Cognition, Conferences, Dempster-Shafer Theory, deontic logic, Ethics, formal logic, Human behavior, human societies, human-robot interaction, human-robot interactions, ieee xplore, inference mechanisms, learning (artificial intelligence), Libraries, machine learning algorithm, Moral & Ethik, moral norms, norm-conforming ways, Robot kinematics, Social Norms, uncertainty, uncertainty handling -
(2017): Encouraging Prosocial Decisions. The Role of Fairness Salience and Uncertainty. In: Journal of Behavioral Decision Making 30 (2), S. 502-515. DOI: 10.1002/bdm.1970
DOI: https://doi.org/10.1002/bdm.1970 Abstract: Although the decision to engage in prosocial behavior has received research attention, the literature offers a limited understanding of fairness and uncertainty as antecedents. We propose that one can encourage prosocial decision making simply by invoking the notion of fairness because of its effects on the perceived trustworthiness of the invoking party. We also elucidate the complex role of uncertainty in prosocial decisions in that it has a negative effect while also serving to strengthen the positive effect of fairness salience. Our ideas are tested in two prosocial decision contexts, including participative pricing (i.e., 'pay what you want') and charitable giving. Data from an archival study of a naturally occurring event and two controlled experiments offer support for our arguments. (PsycINFO Database Record (c) 2017 APA, all rights reserved)
2016
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(2016): Surfing uncertainty. Prediction, action, and the embodied mind. Oxford; New York; Auckland: Oxford University Press
Abstract: How is it that thoroughly physical material beings such as ourselves can think, dream, feel, create and understand ideas, theories and concepts? How does mere matter give rise to all these non-material mental states, including consciousness itself? An answer to this central question of our existence is emerging at the busy intersection of neuroscience, psychology, artificial intelligence, and robotics. In this groundbreaking work, philosopher and cognitive scientist Andy Clark explores exciting new theories from these fields that reveal minds like ours to be prediction machines - devices that have evolved to anticipate the incoming streams of sensory stimulation before they arrive. These predictions then initiate actions that structure our worlds and alter the very things we need to engage and predict. Clark takes us on a journey in discovering the circular causal flows and the self-structuring of the environment that define "the predictive brain." What emerges is a bold, new, cutting-edge vision that reveals the brain as our driving force in the daily surf through the waves of sensory stimulation.
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(2016): Reading palm-up signs. Neurosemiotic overview of a common hand gesture. In: Semiotica (210). DOI: 10.1515/sem-2016-0053
Abstract: This article explores ways in which the human nervous system encodes and decodes palm-up gestural signs, signals, and cues. Palm-up gestures and their accompanying speech acts evolved from an ancient neurological system that gave rise to both gestural (pectoral) communication and vocal (laryngeal) language (Bass and Chagnaud 2013, Shared developmental and evolutionary origins for neural basis of vocal-acoustic and pectoral-gestural signaling. Proceedings of the National Academy of Sciences 109. 10677-10684.). Meanings of palm-up cues are multifaceted and nuanced, and express degrees of emotional helplessness, cognitive uncertainty, prosodic emphasis, and social deference. By themselves or in combination with other hand movements - such as reaching, showing, and pointing - palm-up cues are used to begin speaking turns, ask questions, request favors, and share personal opinions, feelings, and moods. The palm-up hand movement is a possibly universal signal of deference, in Erving Goffman's (1956, The nature of deference and demeanor. American Anthropologist 58(3). 473-502.) sense of the term, not unlike other deferential body-motion cues such as the anjaimudra, bow, curtsy, genuflection, kowtow, namaste, poussi-poussi, pranama, sampeah, and wai.
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(2016) : Incorporating perception uncertainty in human-aware navigation: A comparative study: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): New York City, USA: IEEE, S. 570-577
DOI: https://doi.org/10.1109/ROMAN.2016.7745175 Abstract: In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social costmap around a person has been extended to consider this new uncertainty factor, which has been widely neglected despite playing an important role in situations with noisy perception. A social path planner based on the fast marching method has been augmented to account for the uncertainty in the positions of people. The effectiveness of the proposed approach has been tested in extensive experiments carried out with real robots and in simulation. Real experiments have been conducted, given noisy perception, in the presence of single/multiple, static/dynamic humans. Results show how this approach has been able to achieve trajectories that are able to keep a more appropriate social distance to the people, compared to those of the basic navigation approach, and the human-aware navigation approach which relies solely on perfect perception, when the complexity of the environment increases. Accounting for uncertainty of perception is shown to result in smoother trajectories with lower jerk that are more natural from the point of view of humans.
Keywords: Angemessen(heit) (von Technik), Computational modeling, Detectors, dynamic humans, fast marching method, human-aware navigation, human-robot interaction, ieee xplore, Mobile robots, Navigation, noisy perception, path planning, perception uncertainty, Probabilistic logic, probabilistic modelling, Probability, Proposals, Robots, social costmap, social navigation performance, social path planner, social robotic system, static humans, trajectories, trajectory control, uncertain systems, uncertainty, uncertainty factor 2013
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(2013): The power of we. Evidence for group-based control. In: Journal of Experimental Social Psychology 49 (1), S. 19-32. DOI: 10.1016/j.jesp.2012.07.014
Abstract: Examined the role that group membership plays in restoring or maintaining perceived control when an individual's sense of global control is threatened. Study 1 examined whether lack of control increased ingroup bias (27 adults mean age 24 years). In Study 2, 93 Germans (mean age 21 years) to test whether the effect of control salience is independent of a possible effect of uncertainty and whether salient intergroup cooperation might reduce the effect of threat on ingroup bias (tested with categorizations of East vs West Germans). In Study 3, a context-free manipulation of control salience and a different intergroup context was used with 105 Austrians, 49 Croatians, and 104 Germans (mean age 28 years) recruited at European soccer matches. Study 4 (213 participants mean age 23 years) focused on threats to ingroup homogeneity. Study 5 (121 human rights volunteers mean age 28 years) extended the focus to both ingroup agency and homogeneity as group features. Assessment methods included the German version of the Positive and Negative Affect Schedule (PANAS). Results of the 5 studies provide evidence for specific effects of control threat on ingroup support and defense, thus supporting this novel model of group-based control. Low control increased ingroup bias and pro-organizational behavior, supporting the assumption that people increasingly act in terms of group membership when their sense of global personal control is threatened. The symbolic control restored via group membership, however, can result in increased levels of ethnocentrism and outgroup derogation. zitiert von 124
2012
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(2012): An Inter- and Intraindividual Perspective of the Substitutability of Fairness Rules for Trust Within Teams. In: Journal of Applied Social Psychology 42 (4), S. 850-873. DOI: 10.1111/j.1559-1816.2011.00831.x
DOI: https://doi.org/10.1111/j.1559-1816.2011.00831.x Abstract: The present study longitudinally assesses fairness allocation rule importance and equity allocation preference under conditions of evolving team trust. We predicted an interchangeable relationship between trust and allocation rules using an uncertainty management theory framework (Lind & Van den Bos, 2002; Van den Bos & Lind, 2002). From an interindividual perspective, lower initial trust toward team members predicted a higher degree of importance for the use of preferred allocation rules and greater use of the equity heuristic. An intraindividual change in trust predicted an inverse change in use of the equity heuristic, but not the expected change in allocation rule importance. Implications of these results for future research and practice are discussed. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
2010
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(2010): The others. Universals and cultural specificities in the perception of status and dominance from nonverbal behavior. In: Consciousness and cognition 19 (3), S. 762-777. DOI: 10.1016/j.concog.2010.06.006
DOI: http://www.ncbi.nlm.nih.gov/pubmed/20630775 Abstract: The current study analyzes trans-cultural universalities and specificities in the recognition of status roles, dominance perception and social evaluation based on nonverbal cues. Using a novel methodology, which allowed to mask clues to ethnicity and cultural background of the agents, we compared impression of Germans, Americans and Arabs observing computer-animated interactions from the three countries. Only in the German stimulus sample the status roles (employee vs. supervisor) could be recognized above chance level. However we found significant correlations in dominance perception across all countries. Significant correlations were only found for evaluation between German observers and observers from the other two countries. Perceived dominance uniformly predicted the assignment of status-roles in all cultures. Microanalysis of movement behavior further revealed predictive value of specific nonverbal cues for dominance ratings. Results support the hypothesis of universalities in the processing of dominance cues and point to cultural specificities in evaluative responses to nonverbal behavior.
Keywords: Adolescent, Adult, Avoidance Learning, Cross-Cultural Comparison, Cues, Germany, Humans, Individuality, Judgment, Kommunikation, Nonverbal communication, Power (Psychology), Social Distance, Social Dominance, Social Perception, Social Values, Status, uncertainty, United Arab Emirates, United States, Video Recording, Young Adult 2009
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(2009): Coordination in high-risk organizations. The need for flexible routines. In: Cognition, Technology & Work 11 (1), S. 17-27. DOI: 10.1007/s10111-008-0119-y
Abstract: In this article, we link the literatures on organizational routines and the management of uncertainties in order to establish the concept of flexible routines. Supported by flexible rules, this type of routine is argued to help achieve the right balance between standardization and flexibility, thus enabling resilience through loose coupling in high-risk organizations. The operationalization of the concept of flexible routine can help strategic decision-making regarding the design of high-risk systems as well as operational decision-making in the course of handling complex work processes. To underpin these arguments, findings from a case study on rules management in a railway organization are presented, where alignment of rules with the amount of uncertainty and actors' competencies for handling uncertainties were analyzed. Implications for future research on flexible routines are discussed. zitiert von 111
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