Active Perception Research Articles

Robot Programming from Fish Demonstrations.

Fish are capable of learning complex relations found in their surroundings, and harnessing their knowledge may help to improve the autonomy and adaptability of robots. Here, we propose a novel learning from demonstration framework to generate fish-inspired robot control programs with as little human intervention as possible. The framework consists of six core modules: (1) task demonstration, (2) fish tracking, (3) analysis of fish trajectories, (4) acquisition of robot training data, (5) generating a perception-action controller, and (6) performance evaluation. We first describe these modules and highlight the key challenges pertaining to each one. We then present an artificial neural network for automatic fish tracking. The network detected fish successfully in 85% of the frames, and in these frames, its average pose estimation error was less than 0.04 body lengths. We finally demonstrate how the framework works through a case study focusing on a cue-based navigation task. Two low-level perception-action controllers were generated through the framework. Their performance was measured using two-dimensional particle simulations and compared against two benchmark controllers, which were programmed manually by a researcher. The fish-inspired controllers had excellent performance when the robot was started from the initial conditions used in fish demonstrations (>96% success rate), outperforming the benchmark controllers by at least 3%. One of them also had an excellent generalisation performance when the robot was started from random initial conditions covering a wider range of starting positions and heading angles (>98% success rate), again outperforming the benchmark controllers by 12%. The positive results highlight the utility of the framework as a research tool to form biological hypotheses on how fish navigate in complex environments and design better robot controllers on the basis of biological findings.

Behavioral and Electrocortical Response to a Sensorimotor Conflict in Individuals with Fibromyalgia.

People with fibromyalgia have been shown to experience more somatosensory disturbances than pain-free controls during sensorimotor conflicts (i.e., incongruence between visual and somatosensory feedback). Sensorimotor conflicts are known to disturb the integration of sensory information. This study aimed to assess the cerebral response and motor performance during a sensorimotor conflict in people with fibromyalgia. Twenty participants with fibromyalgia and twenty-three pain-free controls performed a drawing task including visual feedback that was either congruent with actual movement (and thus with somatosensory information) or incongruent with actual movement (i.e., conflict). Motor performance was measured according to tracing error, and electrocortical activity was recorded using electroencephalography. Motor performance was degraded during conflict for all participants but did not differ between groups. Time-frequency analysis showed that the conflict was associated with an increase in theta power (4-8 Hz) at conflict onset over the left posterior parietal cortex in participants with fibromyalgia but not in controls. This increase in theta suggests a stronger detection of conflict in participants with fibromyalgia, which was not accompanied by differences in motor performance in comparison to controls. This points to dissociation in individuals with fibromyalgia between an altered perception of action and a seemingly unaltered control of action.

Action Perception in Athletes: Expertise Facilitates Perceptual Discrimination.

Prior research has demonstrated that athletes outperform non-athletes on action perception tasks involving anticipation of sport-related actions. We conducted two experiments to determine whether this advantage persists on tasks without anticipation and/or transfers to non-sport actions. In Experiment 1, motor experts (sprinters) and non-experts were shown two consecutive videos of an athlete either walking or sprinting. The participants' task was to indicate whether the videos were identical or different. The sprinters were more accurate in these judgments than non-experts, indicating that their athleticism was associated with motor expertise that enhanced their perception of both expert and everyday actions. Further analysis revealed that participants who reported basing their decisions on a specific and informative cue (i.e., the distance between where the athlete's foot landed and a line on the track) outperformed those who did not. However, the sprinters benefitted more from using this cue than the non-sprinters. In Experiment 2, we assessed whether non-experts' performance improved if the number of available cues was reduced to make the informative cue easier to identify. Non-experts completed the same task as in Experiment 1, with half of the participants viewing the upper part of the athletes' body and the other half viewing the lower part containing the informative cue. However, the non-experts still did not reliably identify the cue, and performance did not vary between the two non-expert sub-groups. The results of these experiments suggest that motor expertise indirectly affects action perception by improving experts' ability to identify and use informative cues.

COVID-19 vaccine hesitancy among women planning for pregnancy, pregnant or breastfeeding mothers in Jordan: A cross-sectional study.

Women planning to become pregnant, who are pregnant, and who are breastfeeding are more hesitant to take COVID-19 vaccines compared to other women globally. This study investigates COVID-19 vaccine hesitancy among women, who are planning for pregnancy, currently pregnant, and breastfeeding women in Jordan. An online cross-sectional study was conducted in the biggest three cities in Jordan, including 874 women. Women who were planning for pregnancy, pregnant, or breastfeeding reported statistically significant lower levels of perception of the seriousness of COVID-19 (7.12 ± 0.72, 7.53 ± 1.80, 7.2439 ± 7296, respectively), significant lower levels of perceived benefits of the vaccine (8.92 ± 2.15, 8.73 ± 1.93, 9.09 ± 2.10, respectively), significant lower levels of motivation and causes of action (7.15 ± 1.71, 6.7524 ± 1.40, 7.27 ± 1.68, respectively), and significantly higher levels of COVID-19 vaccination hesitancy (31.32 ± 6.40, 30.11 ± 4.49, 30.27 ± 6.29, respectively) than other women. Married women, those whoe were previously infected with COVID-19, and those who had chronic diseases reported statistically significant lower levels of perception of COVID-19 seriousness, perceived benefits of COVID-19 vaccine, motivation to take COVID-19 vaccine, and causes of action, and significantly higher levels of hesitancy to take COVID-19 vaccine than unmarried women, those who have not been infected with COVID-19, and those who were medically healthy (p<0.001). There were statistically significant positive correlations between perception, perceived benefits, motivation, and cause of action with years of education; and statistically significant negative correlations between perception, perceived benefits, motivation, and cause of action with age (p<0.001). Women who were planning for pregnancy, pregnant, or breastfeeding in Jordan showed miderate scores in COVID-19 vaccine hesitancy despite the current international recommendations for its safety for women and their foetuses or neonates.

Playing With Others Using Headphones: Musicians Prefer Binaural Audio With Head Tracking Over Stereo

Immersive listening systems have grown significantly over the past decade and are now an established area of scientific, artistic, and industrial research. However, scarce research has been conducted on musicians' preferences for playing through headphones over binaural spatialization systems with the addition of head tracking, as opposed to classical stereophonic systems. This comparison is essential to optimally support the playing experience with others for cases of remote collaborative playing, individual instrumental practice, individual recreational music-making using backing tracks, and studio recording sessions. In this article, we study the preferences of playing musicians for a stereophonic system versus a binaural head-tracking system composed of Ambisonics technology and binaural synthesis with generalized head-related transfer functions. We conducted two experiments, each with 30 expert musicians, where participants were asked to rate and compare the 2 listening conditions while playing their instrument either seated or standing. Overall, the quantitative and qualitative results indicated a generalized preference for the binaural system with head tracking over the stereophonic system, with higher ratings for localization, immersion, social presence, realism, and connection with other musicians. Moreover, participants moved their heads significantly more in the binaural conditions. This phenomenon may be explained by the higher engagement and arousal due to the improved auditory experience, or alternatively by the presence of embodied music cognition mechanisms that cause a higher degree of exploration to better understand the action–perception loop. These findings highlight the need for progressing current commercial hardware and software systems used by musicians while playing over headphones.

Perception of Police Performance in Street, Hospitals Anf Twitter in the Covid 19 Era

The perception of the police action in the face of Covid-19 was the objective of this work. A cross-sectional, psychometric and correlational study was carried out with a sample of 100 students, considering their participation in the public health system as social servants or professional practitioners through a platform. A four-factor structure was found that explained 63% of the total variance, although the findings are only applicable to the sample, and its extension to other scenarios is recommended.

Articulation posture influences pitch during singing imagery

Facial muscle activity contributes to singing and to articulation: in articulation, mouth shape can alter vowel identity; and in singing, facial movement correlates with pitch changes. Here, we examine whether mouth posture causally influences pitch during singing imagery. Based on perception–action theories and embodied cognition theories, we predict that mouth posture influences pitch judgments even when no overt utterances are produced. In two experiments (total N = 160), mouth posture was manipulated to resemble the articulation of either /i/ (as in English meet; retracted lips) or /o/ (as in French rose; protruded lips). Holding this mouth posture, participants were instructed to mentally “sing” given songs (which were all positive in valence) while listening with their inner ear and, afterwards, to assess the pitch of their mental chant. As predicted, compared to the o-posture, the i-posture led to higher pitch in mental singing. Thus, bodily states can shape experiential qualities, such as pitch, during imagery. This extends embodied music cognition and demonstrates a new link between language and music.

Four fundamental dimensions underlie the perception of human actions

We evaluate the actions of other individuals based upon a variety of movements that reveal critical information to guide decision making and behavioural responses. These signals convey a range of information about the actor, including their goals, intentions and internal mental states. Although progress has been made to identify cortical regions involved in action processing, the organising principles underlying our representation of actions still remains unclear. In this paper we investigated the conceptual space that underlies action perception by assessing which qualities are fundamental to the perception of human actions. We recorded 240 different actions using motion-capture and used these data to animate a volumetric avatar that performed the different actions. 230 participants then viewed these actions and rated the extent to which each action demonstrated 23 different action characteristics (e.g., avoiding-approaching, pulling-pushing, weak-powerful). We analysed these data using Exploratory Factor Analysis to examine the latent factors underlying visual action perception. The best fitting model was a four-dimensional model with oblique rotation. We named the factors: friendly-unfriendly, formidable-feeble, planned-unplanned, and abduction-adduction. The first two factors of friendliness and formidableness explained approximately 22% of the variance each, compared to planned and abduction, which explained approximately 7–8% of the variance each; as such we interpret this representation of action space as having 2 + 2 dimensions. A closer examination of the first two factors suggests a similarity to the principal factors underlying our evaluation of facial traits and emotions, whilst the last two factors of planning and abduction appear unique to actions.

Comparative cognition: Capuchin monkeys believe in magic

Capuchin monkeys are unique among New World monkeys for their manual dexterity and use of tools. New research using magical sleight of hand shows visual perception of others' actions paralleling their manual skills.

Skilled deceivers are better action perceivers and vice versa

Skilled actors rely on deception to disrupt the perceptual ability of opponents who seek to anticipate action intentions. Common-coding theory (Prinz, 1997) purports that action and perception share common origins in the brain, and therefore it seems plausible that the ability to ‘see through’ a deceptive action would be associated with a capacity to perform the same action. The aim of this study was to investigate whether the ability to perform a deceptive action would be related to the ability to perceive the same type of action. Fourteen skilled rugby players performed deceptive (side-step) and non-deceptive actions while running towards a camera. The deceptiveness of those participants was determined by testing the ability of a separate group of eight equally skilled observers to anticipate the impeding running directions using a temporally occluded video-based test. Based on the overall response accuracies, participants were separated into high- and low-deceptiveness groups. These two groups then themselves took part in a video-based test. Results revealed that the skilled deceivers had a significant advantage in their ability to better anticipate the action outcomes of highly deceptive actions. The skilled deceivers’ sensitivity to discriminate deceptive from non-deceptive actions was significantly better than that of less-skilled deceivers when viewing the most-deceptive actor. Moreover, the skilled perceivers performed actions that appeared to be better disguised than those of the less-skilled perceivers. These findings suggest that, consistent with common-coding theory, the perception of deceptive and non-deceptive actions is associated with the capability to produce deceptive actions and vice versa.

Autonomous exploration through deep reinforcement learning

PurposeRobots equipped with LiDAR sensors can continuously perform efficient actions for mapping tasks to gradually build maps. However, with the complexity and scale of the environment increasing, the computation cost is extremely steep. This study aims to propose a hybrid autonomous exploration method that makes full use of LiDAR data, shortens the computation time in the decision-making process and improves efficiency. The experiment proves that this method is feasible.Design/methodology/approachThis study improves the mapping update module and proposes a full-mapping approach that fully exploits the LiDAR data. Under the same hardware configuration conditions, the scope of the mapping is expanded, and the information obtained is increased. In addition, a decision-making module based on reinforcement learning method is proposed, which can select the optimal or near-optimal perceptual action by the learned policy. The decision-making module can shorten the computation time of the decision-making process and improve the efficiency of decision-making.FindingsThe result shows that the hybrid autonomous exploration method offers good performance, which combines the learn-based policy with traditional frontier-based policy.Originality/valueThis study proposes a hybrid autonomous exploration method, which combines the learn-based policy with traditional frontier-based policy. Extensive experiment including real robots is conducted to evaluate the performance of the approach and proves that this method is feasible.

Modulating motor resonance with paired associativestimulation: Neurophysiological and behavioral outcomes

In the human brain, paired associative stimulation (PAS), a non-invasive brain stimulation technique based on Hebbian learning principles, can be used to model motor resonance, the inner activation of an observer's motor system by action observation. Indeed, the newly developed mirror PAS (m-PAS) protocol, through the repeatedly pairing of transcranial magnetic stimulation (TMS) pulses over the primary motor cortex (M1) and visual stimuli depicting index–finger movements, allows the emergence of a new, atypical pattern of cortico-spinal excitability. In the present study, we performed two experiments to explore (a) the debated hemispheric lateralization of the action-observation network and (b) the behavioral after-effects of m-PAS, particularly concerning a core function of the MNS: automatic imitation.In Experiment 1, healthy participants underwent two sessions of m-PAS, delivered over the right and left M1. Before and after each m-PAS session, motor resonance was assessed by recording motor-evoked potentials induced by single-pulse TMS applied to the right M1 while observing contralateral (left) and ipsilateral (right) index–finger movements or static hands. In Experiment 2, participants performed an imitative compatibility task before and after the m-PAS targeting the right M1. Results showed that only m-PAS targeting the right hemisphere, non-dominant in right-handed people, induced the emergence of motor resonance for the conditioned movement, absent before the stimulation. This effect is not present when m-PAS target the M1 of the left hemisphere. Importantly, the protocol also affects behavior, modulating automatic imitation in a strictly somatotopic fashion (i.e., influencing the imitation of the conditioned finger movement).Overall, this evidence shows that the m-PAS can be used to drive new associations between the perception of actions and their corresponding motor programs, measurable both at a neurophysiological and behavioral level. At least for simple, not goal-directed, movements, the induction of motor resonance and automatic imitation effects are governed by mototopic and somatotopic rules.

Manual action expectation and biomechanical ability in three species of New World monkey

Being able to anticipate another's actions is a crucial ability for social animals because it allows for coordinated reactions. However, little is known regarding how hand morphology and biomechanical ability influences such predictions. Sleight of hand magic capitalizes on the observer's expectations of specific manual movements,1,2 making it an optimal model to investigate the intersection between the ability to manually produce an action and the ability to predict the actions of others. The French drop effect involves mimicking a hand-to-hand object transfer by pantomiming a partially occluded precision grip. Therefore, to be misled by it, the observer ought to infer the opposing movement of the magician's thumb.3 Here, we report how three species of platyrrhine with inherently distinct biomechanical ability4,5,6-common marmosets (Callithrix jacchus), Humboldt's squirrel monkeys (Saimiri cassiquiarensis), and yellow-breasted capuchins (Sapajus xanthosternos)-experienced this effect. Additionally, we included an adapted version of the trick using a grip that all primates can perform (power grip), thus removing the opposing thumb as the causal agent of the effect. When observing the French drop, only the species with full or partial opposable thumbs were misled by it, just like humans. Conversely, the adapted version of the trick misled all three monkey species, regardless of their manual anatomy. The results provide evidence of a strong interaction between the physical ability to approximate a manual movement and the predictions primates make when observing the actions of others, highlighting the importance of physical factors in shaping the perception of actions.

Orchestral Wind Instruments Performance in Slobozhanshchyna in the Middle of the XIX and Early XX Centuries

The history of the development of academic orchestral wind instruments performance in Slobozhanshchyna in the XIX — early XX century has many bright pages that have entered the annals of unique artistic events of the city, as well as those that have not yet been analyzed in modern musicology, but significantly enrich the overall picture of the cultural life of the capital of Sloboda Ukraine. References to publications on the pages of the local newspapers “Kharkovskie gubernskie vedomosti” and “Yuzhny kray” significantly supplement certain lacunae that still exist in the understanding of the multi-vector process of formation of the domestic instrumental wind tradition.&#x0D; The purpose of the article: demonstrate the facts of the introduction of orchestral performance on wind instruments in Slobozhanshchyna, not yet used in scientific circulation, and reflecting the perception of these numerous creative actions by the local cultural community.&#x0D; The methodology is based on the principles of a comparative analysis of the principles of activity in Slobozhanshchyna region, and in particular, in Kharkiv region, of serf, military and amateur brass bands, as well as the application of the induction method, which made it possible to generalize the principles of the existence of these collectives in the local cultural space and their contribution to artistic life of Slobozhanshchyna, Kharkiv and other cities of the region in the middle of the XIX and early XX centuries. The musical and local history method was also applied, which contributed to the analysis of the specifics of the musical and cultural preferences of Kharkiv residents.&#x0D; The results. The given examples of the active activity of serf bands, military and amateur student brass bands on the territory of Kharkiv and Kharkiv region testify to their prevalence in the XIX and early XX centuries among different strata of the Kharkiv community and in general a favorable attitude towards such orchestras by both local music lovers and the average public.&#x0D; After the gradual decline of serf orchestras in the 1840s and 1850s on the territory of Slobozhanshchyna in the second half of the XIX century, they were replaced by the performances of the so-called “trumpet choirs” — brass bands of military units stationed in Kharkiv, or specially arrived for the summer season at the invitation of the directorate of recreation gardens. The popularity of wind music in the city led to the emergence of a number of similar amateur student groups at the turn of the XIX and XX centuries, which existed until the time of the national liberation struggles of 1917–1921.&#x0D; Along with the introduction of wind instrument lessons at the music school of the Kharkiv branch of the Imperial Russian Music Society and the performances of young brass musicians in student concerts and the participation of many professional wind instrument performers in theater and opera orchestras. Their activities are analyzed in the works of V. Bogdanov and A. Ovchar. These serf, later military and amateur wind music orchestras, often led by talented conductors, formed a powerful general cultural foundation of Kharkiv and Slobozhanshchyna as a whole.&#x0D; Prospects for further research. Study the possibility of further thorough work in the Kharkiv archives to provide a more complete and detailed panorama of the spread of wind instruments performance in our region.

Does optic flow provide information about actions?

Optic flow, the pattern of light generated in the visual field by motion of objects and the observer's body, serves as information that underwrites perception of events, actions, and affordances. This visual pattern informs the observer about their own actions in relation to their surroundings, as well as those of others. This study explored the limits of action detection for others as well as the role of optic flow. First-person videos were created using camera recordings of the actor's perspective as they performed various movements (jumping jacks, jumping, squatting, sitting, etc.). In three experiments participants attempted to detect the action from first-person video footage using open ended responses (Experiment 1), forced-choice responses (Experiment 2), and a match-to-sample paradigm (Experiment 3). It was discovered that some actions are more difficult to detect than others. When the task was challenging (Experiment 1) athletes were more accurate, but this was not the case in Experiments 2 and 3. All actions were identified above chance level across viewpoints, suggesting that invariant information was detected and used to perform the task.

Natural Intelligence as the Brain of Intelligent Systems

This article discusses the concept and applications of cognitive dynamic systems (CDS), which are a type of intelligent system inspired by the brain. There are two branches of CDS, one for linear and Gaussian environments (LGEs), such as cognitive radio and cognitive radar, and another one for non-Gaussian and nonlinear environments (NGNLEs), such as cyber processing in smart systems. Both branches use the same principle, called the perception action cycle (PAC), to make decisions. The focus of this review is on the applications of CDS, including cognitive radios, cognitive radar, cognitive control, cyber security, self-driving cars, and smart grids for LGEs. For NGNLEs, the article reviews the use of CDS in smart e-healthcare applications and software-defined optical communication systems (SDOCS), such as smart fiber optic links. The results of implementing CDS in these systems are very promising, with improved accuracy, performance, and lower computational costs. For example, CDS implementation in cognitive radars achieved a range estimation error that is as good as 0.47 (m) and a velocity estimation error of 3.30 (m/s), outperforming traditional active radars. Similarly, CDS implementation in smart fiber optic links improved the quality factor by 7 dB and the maximum achievable data rate by 43% compared to those of other mitigation techniques.

Improving access to assessments of early motor development in local languages: polish adaptation of the Early Motor Questionnaire

A child’s motor development progresses very dynamically. It is crucial to develop freely available parent-report measures of motor development that can be easily used globally to measure motor skills and identify children in need of interventions. This paper presents the adaptation and validation of the Early Motor Questionnaire, which consists of gross motor (GM), fine motor (FM), and perception–action integration (PA) subscales, to the Polish language (EMQ-PL). Study 1 (online, cross-sectional, N = 640) assessed psychometric properties of the EMQ-PL and its value in identifying children referred to physiotherapy. Results reveal excellent psychometric properties of the EMQ-PL and differences in GM and total age-independent scores between children that were and were not referred for physiotherapy. Study 2 (in-person assessment, longitudinal, N = 100) showed high correlations of GM and total scores with Alberta Infant Motor Scale.Conclusion: Overall, the EMQ can be easily adapted to local languages and has the potential for use as a screening tool in global health contexts.What is Known:• Parent-report questionnaires - especially those available free of charge - can potentially improve the rapid assessment of motor skills in young children worldwide.• Translation, adaptation and validation of freely available parent-report measures of motor development to local languages are important for local populations.What is New:• Early Motor Questionnaire can be easily adapted to local languages and has the potential for use as a screening tool in global health contexts.• The polish version of the Early Motor Questionnaire has excellent psychometric properties and highly correlates with infants’ age and Alberta Infant Motor Scale scores.

Exploratory Factorial Model of Perceived Safety in the COVID-19 Era

The perception of the police action in the face of Covid-19 was the objective of this work. A cross-sectional, psychometric and correlational study was carried out with a sample of 100 students, considering their participation in the public health system as social servants or professional practitioners through a platform. A four-factor structure was found that explained 63% of the total variance, although the findings are only applicable to the sample, and its extension to other scenarios is recommended.

Small Signals Lead to Big Changes: The Potential of Peptide-Induced Resistance in Plants.

The plant immunity system is being revisited more and more and new elements and roles are attributed to participating in the response to biotic stress. The new terminology is also applied in an attempt to identify different players in the whole scenario of immunity: Phytocytokines are one of those elements that are gaining more attention due to the characteristics of processing and perception, showing they are part of a big family of compounds that can amplify the immune response. This review aims to highlight the latest findings on the role of phytocytokines in the whole immune response to biotic stress, including basal and adaptive immunity, and expose the complexity of their action in plant perception and signaling events.

Overactivated contextual visual perception and response to a single dose of methylphenidate in children with ADHD.

The pathogenesis of overactivated visual perception in attention-deficit hyperactivity disorder (ADHD) remains unclear, which is interpreted as a cognitive compensation. The existing studies have proposed that perceptual abnormalities in neurodevelopmental disorders are associated with dysfunction of the contextual knowledge system, which influences the development and formation of perception. We hypothesized that alterations in contextual states may also be responsible for inducing perceptual abnormalities in ADHD. Therefore, the present study evaluated the characteristics of pre-stimulus alpha and its response to a single dose of methylphenidate (MPH). A total of 135 Chinese children participated in the first study, including 70 children with ADHD (age = 10.61 ± 1.93years, female = 17) and 65 age- and sex-matched control children (age = 10.73 ± 1.93years, female = 20). The second clinical trial included 19 Chinese children with ADHD (age = 11.85 ± 1.72years, female = 4), with an identical visual spatial search task. Pre-stimulus alpha oscillations and P1 activity were significantly greater in children with ADHD than in the controls. Overactivated pre-stimulus alpha positively predicted P1. Both pre-stimulus alpha and P1 overactivation have beneficial effects on cognitive performance in children with ADHD. No intervening effect of a single dose of MPH on the compensatory activation of pre-stimulus alpha and P1 were observed. Our findings extended the perceptual activation to the contextual knowledge system, suggesting that compensatory perception in children with ADHD is more likely to be a top-down regulated cognitive operational process.