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2015


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Reducing Student Anonymity and Increasing Engagement

Kuchenbecker, K. J.

University of Pennsylvania Almanac, 62(18):8, November 2015 (article)

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[BibTex]

2015


[BibTex]


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Surgeons and Non-Surgeons Prefer Haptic Feedback of Instrument Vibrations During Robotic Surgery

Koehn, J. K., Kuchenbecker, K. J.

Surgical Endoscopy, 29(10):2970-2983, October 2015 (article)

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[BibTex]

[BibTex]


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Displaying Sensed Tactile Cues with a Fingertip Haptic Device

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J.

IEEE Transactions on Haptics, 8(4):384-396, October 2015 (article)

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[BibTex]

[BibTex]


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A thin film active-lens with translational control for dynamically programmable optical zoom

Yun, S., Park, S., Park, B., Nam, S., Park, S. K., Kyung, K.

Applied Physics Letters, 107(8):081907, AIP Publishing, August 2015 (article)

Abstract
We demonstrate a thin film active-lens for rapidly and dynamically controllable optical zoom. The active-lens is composed of a convex hemispherical polydimethylsiloxane (PDMS) lens structure working as an aperture and a dielectric elastomer (DE) membrane actuator, which is a combination of a thin DE layer made with PDMS and a compliant electrode pattern using silver-nanowires. The active-lens is capable of dynamically changing focal point of the soft aperture as high as 18.4% through its translational movement in vertical direction responding to electrically induced bulged-up deformation of the DE membrane actuator. Under operation with various sinusoidal voltage signals, the movement responses are fairly consistent with those estimated from numerical simulation. The responses are not only fast, fairly reversible, and highly durable during continuous cyclic operations, but also large enough to impart dynamic focus tunability for optical zoom in microscopic imaging devices with a light-weight and ultra-slim configuration.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Data-Driven Motion Mappings Improve Transparency in Teleoperation

Khurshid, R. P., Kuchenbecker, K. J.

Presence: Teleoperators and Virtual Environments, 24(2):132-154, May 2015 (article)

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[BibTex]

[BibTex]


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Robotic Learning of Haptic Adjectives Through Physical Interaction

Chu, V., McMahon, I., Riano, L., McDonald, C. G., He, Q., Perez-Tejada, J. M., Arrigo, M., Darrell, T., Kuchenbecker, K. J.

Robotics and Autonomous Systems, 63(3):279-292, 2015, Vivian Chu, Ian MacMahon, and Lorenzo Riano contributed equally to this publication. Corrigendum published in June 2016 (article)

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[BibTex]

[BibTex]


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Effects of Vibrotactile Feedback on Human Motor Learning of Arbitrary Arm Motions

Bark, K., Hyman, E., Tan, F., Cha, E., Jax, S. A., Buxbaum, L. J., Kuchenbecker, K. J.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(1):51-63, January 2015 (article)

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[BibTex]

[BibTex]


Optimizing Average Precision using Weakly Supervised Data
Optimizing Average Precision using Weakly Supervised Data

Behl, A., Mohapatra, P., Jawahar, C. V., Kumar, M. P.

IEEE Trans. on Pattern Analysis and Machine Intelligence (PAMI), 2015 (article)

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[BibTex]

[BibTex]


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Model-Based Strategy Selection Learning

Lieder, F., Griffiths, T. L.

The 2nd Multidisciplinary Conference on Reinforcement Learning and Decision Making, 2015 (article)

Abstract
Humans possess a repertoire of decision strategies. This raises the question how we decide how to decide. Behavioral experiments suggest that the answer includes metacognitive reinforcement learning: rewards reinforce not only our behavior but also the cognitive processes that lead to it. Previous theories of strategy selection, namely SSL and RELACS, assumed that model-free reinforcement learning identifies the cognitive strategy that works best on average across all problems in the environment. Here we explore the alternative: model-based reinforcement learning about how the differential effectiveness of cognitive strategies depends on the features of individual problems. Our theory posits that people learn a predictive model of each strategy’s accuracy and execution time and choose strategies according to their predicted speed-accuracy tradeoff for the problem to be solved. We evaluate our theory against previous accounts by fitting published data on multi-attribute decision making, conducting a novel experiment, and demonstrating that our theory can account for people’s adaptive flexibility in risky choice. We find that while SSL and RELACS are sufficient to explain people’s ability to adapt to a homogeneous environment in which all decision problems are of the same type, model-based strategy selection learning can also explain people’s ability to adapt to heterogeneous environments and flexibly switch to a different decision-strategy when the situation changes.

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link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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The optimism bias may support rational action

Lieder, F., Goel, S., Kwan, R., Griffiths, T. L.

NIPS 2015 Workshop on Bounded Optimality and Rational Metareasoning, 2015 (article)

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[BibTex]

[BibTex]


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Rational use of cognitive resources: Levels of analysis between the computational and the algorithmic

Griffiths, T. L., Lieder, F., Goodman, N. D.

Topics in Cognitive Science, 7(2):217-229, Wiley, 2015 (article)

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[BibTex]

[BibTex]


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Novel plasticity rule can explain the development of sensorimotor intelligence

Der, R., Martius, G.

Proceedings of the National Academy of Sciences, 112(45):E6224-E6232, 2015 (article)

Abstract
Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher-level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive rhythmic behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system-specific modifications of the DEP rule. They rather arise from the underlying mechanism of spontaneous symmetry breaking, which is due to the tight brain body environment coupling. The new synaptic rule is biologically plausible and would be an interesting target for neurobiological investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Quantifying Emergent Behavior of Autonomous Robots

Martius, G., Olbrich, E.

Entropy, 17(10):7266, 2015 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2006


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Induced Master Motion in Force-Reflecting Teleoperation

Kuchenbecker, K. J., Niemeyer, G.

ASME Journal of Dynamic Systems, Measurement, and Control, 128(4):800-810, December 2006 (article)

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[BibTex]

2006


[BibTex]


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Improving Contact Realism Through Event-Based Haptic Feedback

Kuchenbecker, K. J., Fiene, J. P., Niemeyer, G.

IEEE Transactions on Visualization and Computer Graphics, 12(2):219-230, March 2006 (article)

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[BibTex]

[BibTex]


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Die Effektivität von schriftlichen und graphischen Warnhinweisen auf Zigarettenschachteln

Petersen, L., Lieder, F.

Zeitschrift für Sozialpsychologie, 37(4):245-258, Verlag Hans Huber, 2006 (article)

Abstract
In der vorliegenden Studie wurde die Effektivität von furchterregenden Warnhinweisen bei jugendlichen Rauchern und Raucherinnen analysiert. 336 Raucher/-innen (Durchschnittsalter: 15 Jahre) wurden schriftliche oder graphische Warnhinweise auf Zigarettenpackungen präsentiert (Experimentalbedingungen; n = 96, n = 119), oder sie erhielten keine Warnhinweise (Kontrollbedingung; n = 94). Anschließend wurden die Modellfaktoren des revidierten Modells der Schutzmotivation (Arthur & Quester, 2004) erhoben. Die Ergebnisse stützen die Hypothese, dass die Faktoren «Schweregrad der Schädigung» und «Wahrscheinlichkeit der Schädigung» die Verhaltenswahrscheinlichkeit, weniger oder leichtere Zigaretten zu rauchen, vermittelt über den Mediator «Furcht» beeinflussen. Die Verhaltenswahrscheinlichkeit wurde dagegen nicht von den drei experimentellen Bedingungen beeinflusst. Auch konnten die Faktoren «Handlungswirksamkeitserwartungen» und «Selbstwirksamkeitserwartungen» nicht als Moderatoren des Zusammenhangs zwischen Furcht und Verhaltenswahrscheinlichkeit bestätigt werden.

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DOI [BibTex]

DOI [BibTex]


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Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life

Der, R., Hesse, F., Martius, G.

Adaptive Behavior, 14(2):105-115, 2006 (article)

Abstract
Dynamical systems offer intriguing possibilities as a substrate for the generation of behavior because of their rich behavioral complexity. However this complexity together with the largely covert relation between the parameters and the behavior of the agent is also the main hindrance in the goal-oriented design of a behavior system. This paper presents a general approach to the self-regulation of dynamical systems so that the design problem is circumvented. We consider the controller (a neural net work) as the mediator for changes in the sensor values over time and define a dynamics for the parameters of the controller by maximizing the dynamical complexity of the sensorimotor loop under the condition that the consequences of the actions taken are still predictable. This very general principle is given a concrete mathematical formulation and is implemented in an extremely robust and versatile algorithm for the parameter dynamics of the controller. We consider two different applications, a mechanical device called the rocking stamper and the ODE simulations of a "snake" with five degrees of freedom. In these and many other examples studied we observed various behavior modes of high dynamical complexity.

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DOI [BibTex]

DOI [BibTex]