Majid Nili Ahmadabadi

Bio: Majid Nili Ahmadabadi is an academic researcher from University of Tehran. The author has contributed to research in topics: Reinforcement learning & Mobile robot. The author has an hindex of 24, co-authored 213 publications receiving 2310 citations. Previous affiliations of Majid Nili Ahmadabadi include University College of Engineering & École Polytechnique Fédérale de Lausanne.

Expertness based cooperative Q-learning

Abstract: By using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rules for unseen situations. These benefits would be gained if the learning agent can extract proper rules from the other agents' knowledge for its own requirements. One possible way to do this is to have the learner assign some expertness values (intelligence level values) to the other agents and use their knowledge accordingly. Some criteria to measure the expertness of the reinforcement learning agents are introduced. Also, a new cooperative learning method, called weighted strategy sharing (WSS) is presented. In this method, each agent measures the expertness of its teammates and assigns a weight to their knowledge and learns from them accordingly. The presented methods are tested on two Hunter-Prey systems. We consider that the agents are all learning from each other and compare them with those who cooperate only with the more expert ones. Also, the effect of communication noise, as a source of uncertainty, on the cooperative learning method is studied. Moreover, the Q-table of one of the cooperative agents is changed randomly and its effects on the presented methods are examined.

Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot

Abstract: We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot running in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straight forward. However, we did no observe an improvement of cost of transport of the spine-actuated, faster robot system compared to the rigid spine.

Reducing the Energy Cost of Human Running Using an Unpowered Exoskeleton

Abstract: In this paper, we present a new perspective to design an unpowered exoskeleton for metabolic rate reduction in running. According to our studies on human biomechanics, it was observed that having a torsional spring that applies torque as a linear function of the difference between two hips angles ( ${d}$ -angle), compared with a local spring which applies torque as a function of hip angle ( ${h}$ -angle), provides a better condition for hip moment compensation and, consequently, metabolic rate reduction. Accordingly, a new type of unpowered exoskeleton device for realization of this idea was designed, and a prototype of this exoskeleton was constructed. This exoskeleton was tested on 10 healthy active subjects for running at 2.5 m s−1. In this experiment, 8.0 ± 1.5% (mean ± s.e.m.) metabolic rate reduction (compared with the no-exoskeleton case) was achieved.

Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR)

Abstract: This paper is concerned with the derivation of the kinematics model of the University of Tehran-Pole Climbing Robot (UT-PCR). As the first step, an appropriate set of coordinates is selected and used to describe the state of the robot. Nonholonomic constraints imposed by the wheels are then expressed as a set of differential equations. By describing these equations in terms of the state of the robot an underactuated driftless nonlinear control system with affine inputs that governs the motion of the robot is derived. A set of experimental results are also given to show the capability of the UT-PCR in climbing a stepped pole.

Equality bias impairs collective decision-making across cultures.

Abstract: We tend to think that everyone deserves an equal say in a debate. This seemingly innocuous assumption can be damaging when we make decisions together as part of a group. To make optimal decisions, group members should weight their differing opinions according to how competent they are relative to one another; whenever they differ in competence, an equal weighting is suboptimal. Here, we asked how people deal with individual differences in competence in the context of a collective perceptual decision-making task. We developed a metric for estimating how participants weight their partner’s opinion relative to their own and compared this weighting to an optimal benchmark. Replicated across three countries (Denmark, Iran, and China), we show that participants assigned nearly equal weights to each other’s opinions regardless of true differences in their competence—even when informed by explicit feedback about their competence gap or under monetary incentives to maximize collective accuracy. This equality bias, whereby people behave as if they are as good or as bad as their partner, is particularly costly for a group when a competence gap separates its members.

Machine learning

Abstract: Machine Learning is the study of methods for programming computers to learn. Computers are applied to a wide range of tasks, and for most of these it is relatively easy for programmers to design and implement the necessary software. However, there are many tasks for which this is difficult or impossible. These can be divided into four general categories. First, there are problems for which there exist no human experts. For example, in modern automated manufacturing facilities, there is a need to predict machine failures before they occur by analyzing sensor readings. Because the machines are new, there are no human experts who can be interviewed by a programmer to provide the knowledge necessary to build a computer system. A machine learning system can study recorded data and subsequent machine failures and learn prediction rules. Second, there are problems where human experts exist, but where they are unable to explain their expertise. This is the case in many perceptual tasks, such as speech recognition, hand-writing recognition, and natural language understanding. Virtually all humans exhibit expert-level abilities on these tasks, but none of them can describe the detailed steps that they follow as they perform them. Fortunately, humans can provide machines with examples of the inputs and correct outputs for these tasks, so machine learning algorithms can learn to map the inputs to the outputs. Third, there are problems where phenomena are changing rapidly. In finance, for example, people would like to predict the future behavior of the stock market, of consumer purchases, or of exchange rates. These behaviors change frequently, so that even if a programmer could construct a good predictive computer program, it would need to be rewritten frequently. A learning program can relieve the programmer of this burden by constantly modifying and tuning a set of learned prediction rules. Fourth, there are applications that need to be customized for each computer user separately. Consider, for example, a program to filter unwanted electronic mail messages. Different users will need different filters. It is unreasonable to expect each user to program his or her own rules, and it is infeasible to provide every user with a software engineer to keep the rules up-to-date. A machine learning system can learn which mail messages the user rejects and maintain the filtering rules automatically. Machine learning addresses many of the same research questions as the fields of statistics, data mining, and psychology, but with differences of emphasis. Statistics focuses on understanding the phenomena that have generated the data, often with the goal of testing different hypotheses about those phenomena. Data mining seeks to find patterns in the data that are understandable by people. Psychological studies of human learning aspire to understand the mechanisms underlying the various learning behaviors exhibited by people (concept learning, skill acquisition, strategy change, etc.).

Principles of Neural Science

Abstract: I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Thinking fast and slow.

Abstract: In 1974 an article appeared in Science magazine with the dry-sounding title “Judgment Under Uncertainty: Heuristics and Biases” by a pair of psychologists who were not well known outside their discipline of decision theory. In it Amos Tversky and Daniel Kahneman introduced the world to Prospect Theory, which mapped out how humans actually behave when faced with decisions about gains and losses, in contrast to how economists assumed that people behave. Prospect Theory turned Economics on its head by demonstrating through a series of ingenious experiments that people are much more concerned with losses than they are with gains, and that framing a choice from one perspective or the other will result in decisions that are exactly the opposite of each other, even if the outcomes are monetarily the same. Prospect Theory led cognitive psychology in a new direction that began to uncover other human biases in thinking that are probably not learned but are part of our brain’s wiring.

State-of-the-Art in Visual Attention Modeling

Abstract: Modeling visual attention-particularly stimulus-driven, saliency-based attention-has been a very active research area over the past 25 years. Many different models of attention are now available which, aside from lending theoretical contributions to other fields, have demonstrated successful applications in computer vision, mobile robotics, and cognitive systems. Here we review, from a computational perspective, the basic concepts of attention implemented in these models. We present a taxonomy of nearly 65 models, which provides a critical comparison of approaches, their capabilities, and shortcomings. In particular, 13 criteria derived from behavioral and computational studies are formulated for qualitative comparison of attention models. Furthermore, we address several challenging issues with models, including biological plausibility of the computations, correlation with eye movement datasets, bottom-up and top-down dissociation, and constructing meaningful performance measures. Finally, we highlight current research trends in attention modeling and provide insights for future.