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Automated Acquisition of Evolving Informal Descriptions
(1990-06-01)
The Listener is an automated system that unintrusively performs knowledge acquisition from informal input. The Listener develops a coherent internal representation of a description from an initial set of disorganized, ...
The Early Detection of Motion Boundaries
(1990-05-01)
This thesis shows how to detect boundaries on the basis of motion information alone. The detection is performed in two stages: (i) the local estimation of motion discontinuities and of the visual flowsfield; (ii) the ...
The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
(1990-05-01)
This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found ...
Vision, Instruction, and Action
(1990-04-01)
This thesis describes Sonja, a system which uses instructions in the course of visually-guided activity. The thesis explores an integration of research in vision, activity, and natural language pragmatics. Sonja's visual ...
Attentional Selection in Object Recognition
(1993-01-01)
A key problem in object recognition is selection, namely, the problem of identifying regions in an image within which to start the recognition process, ideally by isolating regions that are likely to come from a single ...
Site Controller: A System for Computer-Aided Civil Engineering and Construction
(1993-02-01)
A revolution\0\0\0 in earthmoving, a $100 billion industry, can be achieved with three components: the GPS location system, sensors and computers in bulldozers, and SITE CONTROLLER, a central computer system that ...
Explorations of the Practical Issues of Learning Prediction-Control Tasks Using Temporal Difference Learning Methods
(1992-12-01)
There has been recent interest in using temporal difference learning methods to attack problems of prediction and control. While these algorithms have been brought to bear on many problems, they remain poorly understood. ...
Heterogeneous Multi-Robot Cooperation
(1994-02-01)
This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates ...
Parallel Methods for Synthesizing Whole-Hand Grasps from Generalized Prototypes
(1994-01-01)
This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to ...
Maygen: A Symbolic Debugger Generation System
(1993-05-01)
With the development of high-level languages for new computer architectures comes the need for appropriate debugging tools as well. One method for meeting this need would be to develop, from scratch, a symbolic debugger ...