This oral history interview provides Yakir Aharonov's perspective on the theoretical discovery of the Aharonov-Bohm effect in 1959, during his PhD studies in Bristol with David Bohm, the reception of the effect, the efforts to test it empirically (up to Tonomura's experiment), and some of the debates regarding the existence of the effect and its interpretation. The interview also discusses related later developments until the 1980s, including modular momentum and Berry's phase. It includes recollections from meetings with Werner Heisenberg, Richard Feynman, and Chen-Ning Yang, also mentioning John Bell, Robert Chambers, Werner Ehrenberg, Sir Charles Frank, Wendell Furry, Gunnar Källén, Maurice Pryce, Nathan Rosen, John Wheeler, and Eugene Wigner.
Wendy Carvalho, Meriem Elkoudi, Brendan Hertel
et al.
Often, robots are asked to execute primitive movements, whether as a single action or in a series of actions representing a larger, more complex task. These movements can be learned in many ways, but a common one is from demonstrations presented to the robot by a teacher. However, these demonstrations are not always simple movements themselves, and complex demonstrations must be broken down, or segmented, into primitive movements. In this work, we present a parameter-free approach to segmentation using techniques inspired by autocorrelation and cross-correlation from signal processing. In cross-correlation, a representative signal is found in some larger, more complex signal by correlating the representative signal with the larger signal. This same idea can be applied to segmenting robot motion and demonstrations, provided with a representative motion primitive. This results in a fast and accurate segmentation, which does not take any parameters. One of the main contributions of this paper is the modification of the cross-correlation process by employing similarity metrics that can capture features specific to robot movements. To validate our framework, we conduct several experiments of complex tasks both in simulation and in real-world. We also evaluate the effectiveness of our segmentation framework by comparing various similarity metrics.
When reading, we often have specific information that interests us in a text. For example, you might be reading this paper because you are curious about LLMs for eye movements in reading, the experimental design, or perhaps you wonder ``This sounds like science fiction. Does it actually work?''. More broadly, in daily life, people approach texts with any number of text-specific goals that guide their reading behavior. In this work, we ask, for the first time, whether open-ended reading goals can be automatically decoded solely from eye movements in reading. To address this question, we introduce goal decoding tasks and evaluation frameworks using large-scale eye tracking for reading data in English with hundreds of text-specific information seeking tasks. We develop and compare several discriminative and generative multimodal text and eye movements LLMs for these tasks. Our experiments show considerable success on the task of selecting the correct goal among several options, and even progress towards free-form textual reconstruction of the precise goal formulation. These results open the door for further scientific investigation of goal driven reading, as well as the development of educational and assistive technologies that will rely on real-time decoding of reader goals from their eye movements.
In social learning environments, agents acquire information from both private signals and the observed actions of predecessors, referred to as history. We define the value of history as the gain in expected payoff from accessing both the private signal and history, compared to relying on the signal alone. We first characterize the information structures that maximize this value, showing that it is highest under a mixture of full information and no information. We then apply these insights to a model of markets for history, where a monopolistic data seller collects and sells access to history. In equilibrium, the seller's dynamic pricing becomes the value of history for each agent. This gives the seller incentives to increase the value of history by designing the information structure. The seller optimal information discloses less information than the socially optimal level.
The influence of individual differences on the perception and evaluation of interactions with robots has been researched for decades. Some human demographic characteristics have been shown to affect how individuals perceive interactions with robots. Still, it is to-date not clear whether, which and to what extent individual differences influence how we perceive robots, and even less is known about human factors and their effect on the perception of robot movements. In addition, most results on the relevance of individual differences investigate human-robot interactions with humanoid or social robots whereas interactions with industrial robots are underrepresented. We present a literature review on the relationship of robot movements and the influence of demographic variation. Our review reveals a limited comparability of existing findings due to a lack of standardized robot manipulations, various dependent variables used and differing experimental setups including different robot types. In addition, most studies have insufficient sample sizes to derive generalizable results. To overcome these shortcomings, we report the results from a Web-based experiment with 930 participants that studies the effect of demographic characteristics on the evaluation of movement behaviors of an articulated robot arm. Our findings demonstrate that most participants prefer an approach from the side, a large movement range, conventional numbers of rotations, smooth movements and neither fast nor slow movement speeds. Regarding individual differences, most of these preferences are robust to demographic variation, and only gender and age was found to cause slight preference differences between slow and fast movements.
María Guadalupe Rodríguez López, Jesús Gómez Serrano
Este artículo estudia cómo fue el proceso de erección del obispado de Aguascalientes en las últimas décadas del siglo XIX. La vinculación de diversos factores de carácter religioso, económico, político y social en conjunto con los intereses tanto de la élite católica laica como de la eclesiástica permitieron que se estableciera una sede episcopal en Aguascalientes dentro del contexto de reorganización territorial y recomposición social de la iglesia en México, impulsada desde la Santa Sede por el papa León XIII. La particularidad de esta erección radica en la fuerte oposición que presentó el arzobispado de Guadalajara, que incluso logró frenar el proyecto en determinado momento, y la pequeña extensión territorial con la que se formó.
Varying conditions between the data seen at training and at application time remain a major challenge for machine learning. We study this problem in the context of Acoustic Scene Classification (ASC) with mismatching recording devices. Previous works successfully employed frequency-wise normalization of inputs and hidden layer activations in convolutional neural networks to reduce the recording device discrepancy. The main objective of this work was to adopt frequency-wise normalization for Audio Spectrogram Transformers (ASTs), which have recently become the dominant model architecture in ASC. To this end, we first investigate how recording device characteristics are encoded in the hidden layer activations of ASTs. We find that recording device information is initially encoded in the frequency dimension; however, after the first self-attention block, it is largely transformed into the token dimension. Based on this observation, we conjecture that suppressing recording device characteristics in the input spectrogram is the most effective. We propose a frequency-centering operation for spectrograms that improves the ASC performance on unseen recording devices on average by up to 18.2 percentage points.
This review examines complexity science in Heliophysics, describing it not as a discipline, but as a paradigm. In the context of Heliophysics, complexity science is the study of a star, interplanetary environment, magnetosphere, upper and terrestrial atmospheres, and planetary surface as interacting subsystems. Complexity science studies entities in a system (e.g., electrons in an atom, planets in a solar system, individuals in a society) and their interactions, and is the nature of what emerges from these interactions. It is a paradigm that employs systems approaches and is inherently multi- and cross-scale. Heliophysics processes span at least 15 orders of magnitude in space and another 15 in time, and its reaches go well beyond our own solar system and Earth's space environment to touch planetary, exoplanetary, and astrophysical domains. It is an uncommon domain within which to explore complexity science. This review article excavates the lived and living history of complexity science in Heliophysics. It identifies five dimensions of complexity science. It then proceeds in three epochal parts: 1) A pivotal year in the Complexity Heliophysics paradigm: 1996; 2) The transitional years that established foundations of the paradigm (1996-2010); and 3) The emergent literature largely beyond 2010. The history reveals a grand challenge that confronts most physical sciences to understand the research intersection between fundamental science (e.g., complexity science) and applied science (e.g., artificial intelligence and machine learning). A risk science framework is suggested as a way of formulating the challenges in a way that the two converge. The intention is to provide inspiration and guide future research. It will be instructive to Heliophysics researchers, but also to any reader interested in or hoping to advance the frontier of systems and complexity science.
Humans constantly move their eyes, even during visual fixations, where miniature (or fixational) eye movements occur involuntarily. Fixational eye movements comprise slow components (physiological drift and tremor) and fast components (microsaccades). The complex dynamics of physiological drift can be modeled qualitatively as a statistically self-avoiding random walk (SAW model, Engbert, Mergenthaler, Sinn, & Pikovsky, 2011). In this study, we implement a data assimilation approach for the SAW model to explain statistics of fixational eye movements and microsaccades in experimental data obtained from high-resolution eye-tracking. We discuss and analyze the likelihood function for the SAW model, which allows us to apply Bayesian parameter estimation at the level of individual human observers. Based on model fitting, we find a relationship between the activation predicted by the SAW model and the occurrence of microsaccades. The model's latent activation relative to microsaccade onsets and offsets using experimental data lends support to the existence of a triggering mechanism for microsaccades. Our findings suggest that the SAW model can capture individual differences and serve as a tool for exploring the relationship between physiological drift and microsaccades as the two most essential components of fixational eye movements. Our results contribute to understanding individual variability in microsaccade behaviors and the role of fixational eye movements in visual information processing.
Esta entrevista recoge el testimonio del Licenciado Alberto Cañas Escalante en torno al proceso de fundación de periódico La República en Costa Rica durante la segunda mitad del siglo XX. Concretamente, Cañas Escalante narra especialmente el vínculo que existió entre la fundación de dicho periódico y el Partido Liberación Nacional (PLN). De igual manera, relata las disputas ideológicas que surgieron con otros medios de comunicación de la época como el diario La Nación.
Sadique Adnan Siddiqui, Lisa Gutzeit, Frank Kirchner
In this work, we investigate the influence of labeling methods on the classification of human movements on data recorded using a marker-based motion capture system. The dataset is labeled using two different approaches, one based on video data of the movements, the other based on the movement trajectories recorded using the motion capture system. The dataset is labeled using two different approaches, one based on video data of the movements, the other based on the movement trajectories recorded using the motion capture system. The data was recorded from one participant performing a stacking scenario comprising simple arm movements at three different speeds (slow, normal, fast). Machine learning algorithms that include k-Nearest Neighbor, Random Forest, Extreme Gradient Boosting classifier, Convolutional Neural networks (CNN), Long Short-Term Memory networks (LSTM), and a combination of CNN-LSTM networks are compared on their performance in recognition of these arm movements. The models were trained on actions performed on slow and normal speed movements segments and generalized on actions consisting of fast-paced human movement. It was observed that all the models trained on normal-paced data labeled using trajectories have almost 20% improvement in accuracy on test data in comparison to the models trained on data labeled using videos of the performed experiments.
In this paper, we present an acoustic side channel attack which makes use of smartphone microphones recording a robot in operation to exploit acoustic properties of the sound to fingerprint a robot's movements. In this work we consider the possibility of an insider adversary who is within physical proximity of a robotic system (such as a technician or robot operator), equipped with only their smartphone microphone. Through the acoustic side-channel, we demonstrate that it is indeed possible to fingerprint not only individual robot movements within 3D space, but also patterns of movements which could lead to inferring the purpose of the movements (i.e. surgical procedures which a surgical robot is undertaking) and hence, resulting in potential privacy violations. Upon evaluation, we find that individual robot movements can be fingerprinted with around 75% accuracy, decreasing slightly with more fine-grained movement meta-data such as distance and speed. Furthermore, workflows could be reconstructed with around 62% accuracy as a whole, with more complex movements such as pick-and-place or packing reconstructed with near perfect accuracy. As well as this, in some environments such as surgical settings, audio may be recorded and transmitted over VoIP, such as for education/teaching purposes or in remote telemedicine. The question here is, can the same attack be successful even when VoIP communication is employed, and how does packet loss impact the captured audio and the success of the attack? Using the same characteristics of acoustic sound for plain audio captured by the smartphone, the attack was 90% accurate in fingerprinting VoIP samples on average, 15% higher than the baseline without the VoIP codec employed. This opens up new research questions regarding anonymous communications to protect robotic systems from acoustic side channel attacks via VoIP communication networks.
J. Alberto Álvarez Martín, Henrik Gollee, Jörg Müller
et al.
We present Intermittent Control (IC) models as a candidate framework for modelling human input movements in Human--Computer Interaction (HCI). IC differs from continuous control in that users are not assumed to use feedback to adjust their movements continuously, but only when the difference between the observed pointer position and predicted pointer positions become large. We use a parameter optimisation approach to identify the parameters of an intermittent controller from experimental data, where users performed one-dimensional mouse movements in a reciprocal pointing task. Compared to previous published work with continuous control models, based on the Kullback-Leibler divergence from the experimental observations, IC is better able to generatively reproduce the distinctive dynamical features and variability of the pointing task across participants and over repeated tasks. IC is compatible with current physiological and psychological theory and provides insight into the source of variability in HCI tasks.
Digital technologies, such as the Internet and Artificial Intelligence, are part of our daily lives, influencing broader aspects of our way of life, as well as the way we interact with the past. Having dramatically changed the ways in which knowledge is produced and consumed, the algorithmic age has also radically changed the relationship that the general public has with History. Fields of History such as Public and Oral History have particularly benefitted from the rise of digital culture. How does our digital culture affect the way we think, study, research and teach the past, as historical evidence spreads rapidly in the public sphere? How do digital technologies promote the study, writing and teaching of History? What should historians, students of history and pre-service history teachers be critically aware of, when swarmed with digitized or born-digital content, constantly growing on the Internet? And while these changes are now visible globally, how is the discipline of History situated within the digital transformation rapidly advancing in Greece? Finally, what are the consequences of these changes for History as a subject taught at Greek secondary schools? These are some of the issues raised in the text that follows, which is part of the course materials of the undergraduate course offered during winter semester 2020-2021 at the School University of Athens, School of Philosophy, Pedagogy, Psychology. Course Title: 'Pedagogics of History: Theory and Practice', Academic Institution: School of Philosophy-Pedagogy-Psychology, University of Athens.
Longitude determination at sea gained increasing commercial importance in the late Middle Ages, spawned by a commensurate increase in long-distance merchant shipping activity. Prior to the successful development of an accurate marine timepiece in the late-eighteenth century, marine navigators relied predominantly on the Moon for their time and longitude determinations. Lunar eclipses had been used for relative position determinations since Antiquity, but their rare occurrences precludes their routine use as reliable way markers. Measuring lunar distances, using the projected positions on the sky of the Moon and bright reference objects--the Sun or one or more bright stars--became the method of choice. It gained in profile and importance through the British Board of Longitude's endorsement in 1765 of the establishment of a Nautical Almanac. Numerous 'projectors' jumped onto the bandwagon, leading to a proliferation of lunar ephemeris tables. Chronometers became both more affordable and more commonplace by the mid-nineteenth century, signaling the beginning of the end for the lunar distance method as a means to determine one's longitude at sea.
Inertial Measurement Unit (IMU) sensors are being increasingly used to detect human gestures and movements. Using a single IMU sensor, whole body movement recognition remains a hard problem because movements may not be adequately captured by the sensor. In this paper, we present a whole body movement detection study using a single smart watch in the context of ballroom dancing. Deep learning representations are used to classify well-defined sequences of movements, called \emph{figures}. Those representations are found to outperform ensembles of random forests and hidden Markov models. The classification accuracy of 85.95\% was improved to 92.31\% by modeling a dance as a first-order Markov chain of figures and correcting estimates of the immediately preceding figure.
Carlos Hernández Rodríguez, Ana Luisa Cerdas Albertazzi
Este artículo presenta y explica, en perspectiva histórica, el proceso de construcción de diversas modalidades de control social del trabajo, en las plantaciones bananeras. A partir de fuentes diversas, reconstruye y analiza el proceso productivo y las lógicas de organización de este, así como las formas de resistencia y protesta reactiva de los trabajadores, frente a las pretensiones de disciplinamiento y explotación económica, en plantaciones corporativas del Pacífico Central y Sur de Costa Rica.
We study the multi-round response generation in visual dialog, where a response is generated according to a visually grounded conversational history. Given a triplet: an image, Q&A history, and current question, all the prevailing methods follow a codec (i.e., encoder-decoder) fashion in a supervised learning paradigm: a multimodal encoder encodes the triplet into a feature vector, which is then fed into the decoder for the current answer generation, supervised by the ground-truth. However, this conventional supervised learning does NOT take into account the impact of imperfect history, violating the conversational nature of visual dialog and thus making the codec more inclined to learn history bias but not contextual reasoning. To this end, inspired by the actor-critic policy gradient in reinforcement learning, we propose a novel training paradigm called History Advantage Sequence Training (HAST). Specifically, we intentionally impose wrong answers in the history, obtaining an adverse critic, and see how the historic error impacts the codec's future behavior by History Advantage-a quantity obtained by subtracting the adverse critic from the gold reward of ground-truth history. Moreover, to make the codec more sensitive to the history, we propose a novel attention network called History-Aware Co-Attention Network (HACAN) which can be effectively trained by using HAST. Experimental results on three benchmarks: VisDial v0.9&v1.0 and GuessWhat?!, show that the proposed HAST strategy consistently outperforms the state-of-the-art supervised counterparts.
María de los Ángeles Acuña León, Doriam Chavarría López
La ciudad de Cartago como centro urbano y político-administrativo más importante a lo largo del período colonial, ha sido objeto de numerosos estudios sobre su origen, población, demografía y otros. En este trabajo incursionamos en la vida cotidiana de mestizos, mulatos, zambos y otros mezclados. En primer lugar, nos referimos a los orígenes y fundación de la ciudad, en segunda instancia nos ocupamos de aclarar cuál fue la evolución demográfica y la distribución espacial de los moradores mixtos en la ciudad, luego revisamos la función de estos grupos en la economía y en la dinámica urbana y, por último, analizamos el significado del mestizaje en la sociedad colonial cartaginesa del período.