Shakey the Robot was the first general-purpose mobile robot able to reason about its own actions. While other robots would have to be instructed on each individual step of completing a larger task, Shakey could analyze commands and break them down into basic chunks by itself. Due to its nature, the project combined research in robotics, computer vision, and natural language processing. Because of this, it was the first project that melded logical reasoning and physical action. Shakey was developed at the Artificial Intelligence Center of Stanford Research Institute (now called SRI International). Some of the most notable results of the project include the A search algorithm, the Hough transform, and the visibility graph method. == History == Shakey was developed from approximately 1966 through 1972 with Charles Rosen, Nils Nilsson and Peter Hart as project managers. Other major contributors included Alfred Brain, Sven Wahlstrom, Bertram Raphael, Richard Duda, Richard Fikes, Thomas Garvey, Helen Chan Wolf and Michael Wilber. The project was funded by the Defense Advanced Research Projects Agency (DARPA) based on a SRI proposal submitted in April 1964 for research in "Intelligent Automata", later "Intelligent Automata to Reconnaissance". It was originally designed to have two retractable arms. Now retired from active duty, Shakey is currently on view in a glass display case at the Computer History Museum in Mountain View, California. The project inspired numerous other robotics projects, most notably the Centibots. == Software == The robot's programming was primarily done in LISP. The Stanford Research Institute Problem Solver (STRIPS) planner it used was conceived as the main planning component for the software it utilized. As the first robot that was a logical, goal-based agent, Shakey experienced a limited world. A version of Shakey's world could contain a number of rooms connected by corridors, with doors and light switches available for the robot to interact with. Shakey had a short list of available actions within its planner. These actions involved traveling from one location to another, turning the light switches on and off, opening and closing the doors, climbing up and down from rigid objects, and pushing movable objects around. The STRIPS automated planner could devise a plan to enact all the available actions, even though Shakey himself did not have the capability to execute all the actions within the plan personally. An example mission for Shakey might be something like, an operator types the command "push the block off the platform" at a computer console. Shakey looks around, identifies a platform with a block on it, and locates a ramp in order to reach the platform. Shakey then pushes the ramp over to the platform, rolls up the ramp onto the platform, and pushes the block off the platform. == Hardware == Physically, the robot was particularly tall, and had an antenna for a radio link, sonar range finders, a television camera, on-board processors, and collision detection sensors ("bump detectors"). The robot's tall stature and tendency to shake resulted in its name: We worked for a month trying to find a good name for it, ranging from Greek names to whatnot, and then one of us said, 'Hey, it shakes like hell and moves around, let’s just call it Shakey.' == Research results == The development of Shakey provided far-reaching impact on the fields of robotics and artificial intelligence, as well as computer science in general. Some of the more notable results include the development of the A search algorithm, which is widely used in pathfinding and graph traversal, the process of plotting an efficiently traversable path between points; the Hough transform, which is a feature extraction technique used in image analysis, computer vision, and digital image processing; and the visibility graph method for finding Euclidean shortest paths among obstacles in the plane. == Media and awards == In 1969 the SRI published "SHAKEY: Experimentation in Robot Learning and Planning", a 24-minute video. The project then received media attention. This included an article in the New York Times on April 10, 1969. In 1970, Life referred to Shakey as the "first electronic person"; and in November 1970 National Geographic Magazine covered Shakey and the future of computers. The Association for the Advancement of Artificial Intelligence's AI Video Competition's awards are named "Shakeys" because of the significant impact of the 1969 video. Shakey was inducted into Carnegie Mellon University's Robot Hall of Fame in 2004 alongside such notables as ASIMO and C-3PO. Shakey has been honored with an IEEE Milestone in Electrical Engineering and Computing. Shakey was showcased in the BBC's Towards Tomorrow: Robot (1967) documentary.
SWILE
SWILE (formerly: Lunchr) is a French app-based company that focuses on improving the employee experience. Among others, the platform offers meal vouchers, gift vouchers, mobility vouchers, and business travel solutions. In March 2020, it was renamed SWILE and entered the lunch break and meal voucher market. == History == The company was founded as Lunchr by Loïc Soubeyrand in 2016. Originally, Lunchr was an app for pre-ordering lunch on the spot or to go. In January 2017, the company raised €2.5 million in seed funding from Daphni. In 2018, the company raised €11 million (series A) from Idinvest, followed by another €30 million in February 2019 (series B), notably from Index Ventures and Kima Ventures. In January 2020, Lunchr became one of the first startups to join the French Tech 120. A few months later, in March, Lunchr diversified its services, adding team life management tools and changing its brand name to Swile. In June 2020, the company raised €70 million more in a new round of financing (Series C) from the same investors and the BPI. In November 2020, Swile acquired Briq, a startup specializing in employee engagement. In January 2021, Swile won a tender with Carrefour and distributed 62,000 Swile cards to its employees. In early October 2021, a new $200 million (€175 million) fundraising round, in which Japanese Softbank joined other investors, allowed Swile to capitalize on $1 billion. President Emmanuel Macron cited the company as "a further proof that FrenchTech is at the forefront internationally." In May 2022, the company acquired the travel management start-up Okarito for €6 million. == Overview == Swile operates in two countries (France and Brazil) and has a total of 1000 employees, 5.5 million users and 85,000 corporate customers, including Carrefour, Le Monde, JCDECAUX, PSG, Airbnb, Spotify, Red Bull, and TikTok in the private sector, as well as numerous local authorities and ministerial references in the public sector.
Distributional–relational database
A distributional–relational database, or word-vector database, is a database management system (DBMS) that uses distributional word-vector representations to enrich the semantics of structured data. As distributional word-vectors can be built automatically from large-scale corpora, this enrichment supports the construction of databases which can embed large-scale commonsense background knowledge into their operations. Distributional-Relational models can be applied to the construction of schema-agnostic databases (databases in which users can query the data without being aware of its schema), semantic search, schema-integration and inductive and abductive reasoning as well as different applications in which a semantically flexible knowledge representation model is needed. The main advantage of distributional–relational models over purely logical or semantic web models is the fact that the core semantic associations can be automatically captured from corpora, in contrast to the definition of manually curated ontologies and rule knowledge bases. == Distributional–relational models == Distributional–relational models were first formalized as a mechanism to cope with the vocabulary/semantic gap between users and the schema behind the data. In this scenario, distributional semantic relatedness measures, combined with semantic pivoting heuristics can support the approximation between user queries (expressed in their own vocabulary), and data (expressed in the vocabulary of the designer). In this model, the database symbols (entities and relations) are embedded into a distributional semantic space and have a geometric interpretation under a latent or explicit semantic space. The geometric aspect supports the semantic approximation between entities from different databases, or between a query term and a database entity. The distributional relational model then becomes a double layered model where the semantics of the structured data provides the fine-grained semantics intended by the database designer, which is extended by the distributional semantic model which contains the semantic associations expressed at a broader use. These models support the generalization from a closed communication scenario (in which database designers and users live in the same context, e.g. the same organization) to an open communication scenario (e.g. different organizations, the Web), creating an abstraction layer between users and the specific representation of the conceptual model.
Baum–Welch algorithm
In electrical engineering, statistical computing and bioinformatics, the Baum–Welch algorithm is a special case of the expectation–maximization algorithm used to find the unknown parameters of a hidden Markov model (HMM). It makes use of the forward-backward algorithm to compute the statistics for the expectation step. The Baum–Welch algorithm, the primary method for inference in hidden Markov models, is numerically unstable due to its recursive calculation of joint probabilities. As the number of variables grows, these joint probabilities become increasingly small, leading to the forward recursions rapidly approaching values below machine precision. == History == The Baum–Welch algorithm was named after its inventors Leonard E. Baum and Lloyd R. Welch. The algorithm and the Hidden Markov models were first described in a series of articles by Baum and his peers at the IDA Center for Communications Research, Princeton in the late 1960s and early 1970s. One of the first major applications of HMMs was to the field of speech processing. In the 1980s, HMMs were emerging as a useful tool in the analysis of biological systems and information, and in particular genetic information. They have since become an important tool in the probabilistic modeling of genomic sequences. == Description == A hidden Markov model describes the joint probability of a collection of "hidden" and observed discrete random variables. It relies on the assumption that the i-th hidden variable given the (i − 1)-th hidden variable is independent of previous hidden variables, and the current observation variables depend only on the current hidden state. The Baum–Welch algorithm uses the well known EM algorithm to find the maximum likelihood estimate of the parameters of a hidden Markov model given a set of observed feature vectors. Let X t {\displaystyle X_{t}} be a discrete hidden random variable with N {\displaystyle N} possible values (i.e. We assume there are N {\displaystyle N} states in total). We assume the P ( X t ∣ X t − 1 ) {\displaystyle P(X_{t}\mid X_{t-1})} is independent of time t {\displaystyle t} , which leads to the definition of the time-independent stochastic transition matrix A = { a i j } = P ( X t = j ∣ X t − 1 = i ) . {\displaystyle A=\{a_{ij}\}=P(X_{t}=j\mid X_{t-1}=i).} The initial state distribution (i.e. when t = 1 {\displaystyle t=1} ) is given by π i = P ( X 1 = i ) . {\displaystyle \pi _{i}=P(X_{1}=i).} The observation variables Y t {\displaystyle Y_{t}} can take one of K {\displaystyle K} possible values. We also assume the observation given the "hidden" state is time independent. The probability of a certain observation y i {\displaystyle y_{i}} at time t {\displaystyle t} for state X t = j {\displaystyle X_{t}=j} is given by b j ( y i ) = P ( Y t = y i ∣ X t = j ) . {\displaystyle b_{j}(y_{i})=P(Y_{t}=y_{i}\mid X_{t}=j).} Taking into account all the possible values of Y t {\displaystyle Y_{t}} and X t {\displaystyle X_{t}} , we obtain the N × K {\displaystyle N\times K} matrix B = { b j ( y i ) } {\displaystyle B=\{b_{j}(y_{i})\}} where b j {\displaystyle b_{j}} belongs to all the possible states and y i {\displaystyle y_{i}} belongs to all the observations. An observation sequence is given by Y = ( Y 1 = y 1 , Y 2 = y 2 , … , Y T = y T ) {\displaystyle Y=(Y_{1}=y_{1},Y_{2}=y_{2},\ldots ,Y_{T}=y_{T})} . Thus we can describe a hidden Markov chain by θ = ( A , B , π ) {\displaystyle \theta =(A,B,\pi )} . The Baum–Welch algorithm finds a local maximum for θ ∗ = a r g m a x θ P ( Y ∣ θ ) {\displaystyle \theta ^{}=\operatorname {arg\,max} _{\theta }P(Y\mid \theta )} (i.e. the HMM parameters θ {\displaystyle \theta } that maximize the probability of the observation). === Algorithm === Set θ = ( A , B , π ) {\displaystyle \theta =(A,B,\pi )} with random initial conditions. They can also be set using prior information about the parameters if it is available; this can speed up the algorithm and also steer it toward the desired local maximum. ==== Forward procedure ==== Let α i ( t ) = P ( Y 1 = y 1 , … , Y t = y t , X t = i ∣ θ ) {\displaystyle \alpha _{i}(t)=P(Y_{1}=y_{1},\ldots ,Y_{t}=y_{t},X_{t}=i\mid \theta )} , the probability of seeing the observations y 1 , y 2 , … , y t {\displaystyle y_{1},y_{2},\ldots ,y_{t}} and being in state i {\displaystyle i} at time t {\displaystyle t} . This is found recursively: α i ( 1 ) = π i b i ( y 1 ) , {\displaystyle \alpha _{i}(1)=\pi _{i}b_{i}(y_{1}),} α i ( t + 1 ) = b i ( y t + 1 ) ∑ j = 1 N α j ( t ) a j i . {\displaystyle \alpha _{i}(t+1)=b_{i}(y_{t+1})\sum _{j=1}^{N}\alpha _{j}(t)a_{ji}.} Since this series converges exponentially to zero, the algorithm will numerically underflow for longer sequences. However, this can be avoided in a slightly modified algorithm by scaling α {\displaystyle \alpha } in the forward and β {\displaystyle \beta } in the backward procedure below. ==== Backward procedure ==== Let β i ( t ) = P ( Y t + 1 = y t + 1 , … , Y T = y T ∣ X t = i , θ ) {\displaystyle \beta _{i}(t)=P(Y_{t+1}=y_{t+1},\ldots ,Y_{T}=y_{T}\mid X_{t}=i,\theta )} that is the probability of the ending partial sequence y t + 1 , … , y T {\displaystyle y_{t+1},\ldots ,y_{T}} given starting state i {\displaystyle i} at time t {\displaystyle t} . We calculate β i ( t ) {\displaystyle \beta _{i}(t)} as, β i ( T ) = 1 , {\displaystyle \beta _{i}(T)=1,} β i ( t ) = ∑ j = 1 N β j ( t + 1 ) a i j b j ( y t + 1 ) . {\displaystyle \beta _{i}(t)=\sum _{j=1}^{N}\beta _{j}(t+1)a_{ij}b_{j}(y_{t+1}).} ==== Update ==== We can now calculate the temporary variables, according to Bayes' theorem: γ i ( t ) = P ( X t = i ∣ Y , θ ) = P ( X t = i , Y ∣ θ ) P ( Y ∣ θ ) = α i ( t ) β i ( t ) ∑ j = 1 N α j ( t ) β j ( t ) , {\displaystyle \gamma _{i}(t)=P(X_{t}=i\mid Y,\theta )={\frac {P(X_{t}=i,Y\mid \theta )}{P(Y\mid \theta )}}={\frac {\alpha _{i}(t)\beta _{i}(t)}{\sum _{j=1}^{N}\alpha _{j}(t)\beta _{j}(t)}},} which is the probability of being in state i {\displaystyle i} at time t {\displaystyle t} given the observed sequence Y {\displaystyle Y} and the parameters θ {\displaystyle \theta } ξ i j ( t ) = P ( X t = i , X t + 1 = j ∣ Y , θ ) = P ( X t = i , X t + 1 = j , Y ∣ θ ) P ( Y ∣ θ ) = α i ( t ) a i j β j ( t + 1 ) b j ( y t + 1 ) ∑ k = 1 N ∑ w = 1 N α k ( t ) a k w β w ( t + 1 ) b w ( y t + 1 ) , {\displaystyle \xi _{ij}(t)=P(X_{t}=i,X_{t+1}=j\mid Y,\theta )={\frac {P(X_{t}=i,X_{t+1}=j,Y\mid \theta )}{P(Y\mid \theta )}}={\frac {\alpha _{i}(t)a_{ij}\beta _{j}(t+1)b_{j}(y_{t+1})}{\sum _{k=1}^{N}\sum _{w=1}^{N}\alpha _{k}(t)a_{kw}\beta _{w}(t+1)b_{w}(y_{t+1})}},} which is the probability of being in state i {\displaystyle i} and j {\displaystyle j} at times t {\displaystyle t} and t + 1 {\displaystyle t+1} respectively given the observed sequence Y {\displaystyle Y} and parameters θ {\displaystyle \theta } . The denominators of γ i ( t ) {\displaystyle \gamma _{i}(t)} and ξ i j ( t ) {\displaystyle \xi _{ij}(t)} are the same ; they represent the probability of making the observation Y {\displaystyle Y} given the parameters θ {\displaystyle \theta } . The parameters of the hidden Markov model θ {\displaystyle \theta } can now be updated: π i ∗ = γ i ( 1 ) , {\displaystyle \pi _{i}^{}=\gamma _{i}(1),} which is the expected frequency spent in state i {\displaystyle i} at time 1 {\displaystyle 1} . a i j ∗ = ∑ t = 1 T − 1 ξ i j ( t ) ∑ t = 1 T − 1 γ i ( t ) , {\displaystyle a_{ij}^{}={\frac {\sum _{t=1}^{T-1}\xi _{ij}(t)}{\sum _{t=1}^{T-1}\gamma _{i}(t)}},} which is the expected number of transitions from state i to state j compared to the expected total number of transitions starting in state i, including from state i to itself. The number of transitions starting in state i is equivalent to the number of times state i is observed in the sequence from t = 1 to t = T − 1. b i ∗ ( v k ) = ∑ t = 1 T 1 y t = v k γ i ( t ) ∑ t = 1 T γ i ( t ) , {\displaystyle b_{i}^{}(v_{k})={\frac {\sum _{t=1}^{T}1_{y_{t}=v_{k}}\gamma _{i}(t)}{\sum _{t=1}^{T}\gamma _{i}(t)}},} where 1 y t = v k = { 1 if y t = v k , 0 otherwise {\displaystyle 1_{y_{t}=v_{k}}={\begin{cases}1&{\text{if }}y_{t}=v_{k},\\0&{\text{otherwise}}\end{cases}}} is an indicator function, and b i ∗ ( v k ) {\displaystyle b_{i}^{}(v_{k})} is the expected number of times the output observations have been equal to v k {\displaystyle v_{k}} while in state i {\displaystyle i} over the expected total number of times in state i {\displaystyle i} . These steps are now repeated iteratively until a desired level of convergence. Note: It is possible to over-fit a particular data set. That is, P ( Y ∣ θ final ) > P ( Y ∣ θ true ) {\displaystyle P(Y\mid \theta _{\text{final}})>P(Y\mid \theta _{\text{true}})} . The algorithm also does not guarantee a global maximum. ==== Multiple sequences ==== The algorithm described thus far assumes a single observed sequence Y = y 1 , … , y T {\displaystyle Y=y_{1},\ldots ,y_{T}} . However, in many situations, there are several sequences observed: Y 1 ,
Victor Yngve
Victor Huse Yngve (July 5, 1920 – January 15, 2012) was a professor of linguistics at the University of Chicago and the Massachusetts Institute of Technology (1953-1965). He was one of the earliest researchers in computational linguistics and natural language processing, the use of computers to analyze and process languages. He created the first program to produce random but well-formed output sentences, given a text, a children's book called Engineer Small and the Little Train. Most importantly, he showed in computer processing terms why the human brain can only process sentences of a certain kind of complexity, ones that do not exceed a "depth limit" (which has nothing to do with length) of the kind established independently by George Miller with his depth limit of "seven plus or minus two" sentence constituents in memory at any given time. Yngve was also the author of COMIT, the first string processing language (compare SNOBOL, TRAC, and Perl), which was developed on the IBM 700/7000 series computers by Yngve and collaborators at MIT from 1957-1965. Yngve created the language for supporting computerized research in the field of linguistics, and more specifically, the area of machine translation for natural language processing. In his 1970 paper "On Getting a Word in Edgewise", Yngve coined the term 'back channel behavior' to describe the conversational phenomenon that to this day is known in the linguistic literature as back-channeling. According to Duncan, Yngve's paper also suggested the term turn-taking, independently of Erving Goffman (Duncan, 1972: 283).
Graphics suite
A graphics suite is a software suite for graphics work that are distributed together. The programs are usually able to interact with each other on a higher level than the operating system would normally allow. There is no hard, fast rule regarding the programs to be included in a graphics application suite, but most will include at least a bitmap graphics editor and a vector graphics editor. In addition to these, the suite may contain VRML editors, animation editors, and morphing tools.
Philipp Koehn
Philipp Koehn (born 1 August 1971 in Erlangen, West Germany) is a computer scientist and researcher in the field of machine translation. His primary research interest is statistical machine translation and he is one of the inventors of a method called phrase based machine translation. This is a sub-field of statistical translation methods that employs sequences of words (or so-called "phrases") as the basis of translation, expanding the previous word based approaches. A 2003 paper which he authored with Franz Josef Och and Daniel Marcu called Statistical phrase-based translation has attracted wide attention in Machine translation community and has been cited over a thousand times. Phrase based methods are widely used in machine translation applications in industry. Philipp Koehn received his PhD in computer science in 2003 from the University of Southern California, where he worked at the Information Sciences Institute advised by Kevin Knight. After a year as a postdoctoral fellow under Michael Collins at the Massachusetts Institute of Technology, he joined the University of Edinburgh as a lecturer in the School of Informatics in 2005. He was appointed reader in 2010 and professor in 2012. In 2014, he was appointed professor at the computer science department of The Johns Hopkins University, where he is affiliated with the Center for Language and Speech Processing. == Moses statistical machine translation decoder == The Moses machine translation decoder is an open source project that was created by and is maintained under the guidance of Philipp Koehn. The Moses decoder is a platform for developing Statistical machine translation systems given a parallel corpus for any language pair. The decoder was mainly developed by Hieu Hoang and Philipp Koehn at the University of Edinburgh and extended during a Johns Hopkins University Summer Workshop and further developed under Euromatrix and GALE project funding. The decoder (which is part of a complete statistical machine translation toolkit) is the de facto benchmark for research in the field. Although Koehn continues to play a major role in the development of Moses, the Moses decoder was supported by the European Framework 6 projects Euromatrix, TC-Star, the European Framework 7 projects EuroMatrixPlus, Let's MT, META-NET and MosesCore and the DARPA GALE project, as well as several universities such as the University of Edinburgh, the University of Maryland, ITC-irst, Massachusetts Institute of Technology, and others. Substantial additional contributors to the Moses decoder include Hieu Hoang, Chris Dyer, Josh Schroeder, Marcello Federico, Richard Zens, and Wade Shen. == Europarl corpus == The Europarl corpus is a set of documents that consists of the proceedings of the European Parliament from 1996 to the present. The corpus has been compiled and expanded by a group of researchers led by Philipp Koehn at University of Edinburgh. The data that makes up the corpus was extracted from the website of the European Parliament and then prepared for linguistic research. The latest release (2012) comprised up to 60 million words per language, with 21 European languages represented: Romanic (French, Italian, Spanish, Portuguese, Romanian), Germanic (English, Dutch, German, Danish, Swedish), Slavic (Bulgarian, Czech, Polish, Slovak, Slovene), Finno-Ugric (Finnish, Hungarian, Estonian), Baltic (Latvian, Lithuanian), and Greek. == Other interests and activities in chronological order == Koehn is a professor at Johns Hopkins University where he continues his research into machine translation through his affiliation with the Center for Language and Speech Processing Koehn is a professor and chair of machine translation at the University of Edinburgh School of Informatics and contributes to its statistical machine translation group which organises workshops, seminars and project related to the subject. Koehn has consulted to SYSTRAN periodically between 2006 and 2011. SYSTRAN was acquired by CLSI, a Korean machine translation company in April 2014. Koehn worked for Facebook/META AI Research from 2018 to 2022. Koehn is also chief scientist for Omniscien Technologies and a shareholder in Omniscien Technologies since 2007. Omniscien Technologies is a private company developing and commercialising machine translation technologies. Koehn authored a book titled "Statistical Machine Translation" in 2009 and a book titled "Neural Machine Translation" in 2020. == Awards and recognition == 2013: One of three finalists in the category of Research for the European Patent Office (EPO) 2013 European Inventor Award. Koehn was recognised for patent EP 1488338 B, Phrase-Based Joint Probability Model for Statistical Machine Translations, a translation model that uses mathematical probabilities to determine the most likely interpretation of chunks of text between foreign languages. 2015: Koehn received the Award of Honor of the International Association for Machine Translation. 2024: Koehn was named Fellow of the Association for Computational Linguistics (ACL).