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custom_commands.tex
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custom_commands.tex
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%!TEX encoding = UTF-8
% frontispiece and PDF metadata
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\myThesisTitle}{Gestures and Object Affordances for \HRI}
\newcommand{\myThesisKeywords}{gestures, object affordances, \hri, iCub robot, machine learning}
\newcommand{\myFullName}{Giovanni Saponaro}
\newcommand{\myVertSpace}{\vspace{2.05cm}}
\newcommand{\myPortugueseThesisKeywords}{gestos, potencialidades de objetos~(\foreignlanguage{english}{\emph{object affordances}}), interação homem--robô, robô iCub, aprendizagem automática}
% TikZ diagrams of computational affordance models
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\tikzstyle{circle} = [shape=circle,minimum size=0.7cm,very thick]
\tikzstyle{every node}=[very thick]
\tikzstyle{every path}=[very thick]
\tikzstyle{affarrow} = [->, thick, >=stealth']
\tikzstyle{affnode} = [ellipse, draw, thick, style={font=\Large}]
\tikzstyle{group} = [rectangle, draw, black, thick]
\tikzstyle{dashedgroup} = [rectangle, draw, inner sep=1.2cm, dashed, rounded corners, black]
\tikzstyle{wordnode} = [ellipse, draw, thick]
\newcommand{\montesanoAE}{
\node[affnode] (actions) {Actions};
\node[affnode, below right = 1cm and 1.4cm of actions] (effects) {Effects};
\draw[affarrow] (actions) -- (effects.north);
}
\newcommand{\montesanoO}{
\node[affnode, right of=actions] (objects) [right=3cm] {Objects};
\draw[affarrow] (objects) -- (effects.north);
}
\newcommand{\salviW}{
\node[affnode, below of=effects] (words) [below=1cm] {Words};
\draw[affarrow] (actions.south) -- (words.north);
\draw[affarrow] (effects.south) -- (words.north);
\draw[affarrow] (objects.south) -- (words.north);
}
\newcommand{\saponaroGestRecBox}{
\node[affnode, above of=actions] (gestures) [above=1cm] {Gestures};
\draw[affarrow] (actions.north) -- (gestures.south);
\node[dashedgroup, fit=(actions) (gestures),label=above:Gesture recognition]{};
}
\newcommand{\saponaroManipulatorUseBox}{
\node[affnode, right of=actions] (manipulator) [right=3cm] {Manipulator};
\draw[affarrow] (manipulator) -- (effects.north);
\node[affnode, above of=manipulator] (actedobject) [above=1cm] {Acted Object};
\draw[affarrow] (actedobject) -- (effects.north);
\node[dashedgroup, fit=(manipulator) (actedobject),label=above:Tool use]{};
}
% itemized lists of publications of each chapter/appendix
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\listPublicationsGestures}{%
\begin{itemize}
\item \fullcite{saponaro:2017:glu}
\item \fullcite{saponaro:2019:language}
\end{itemize}%
}
\newcommand{\listPublicationsTools}{%
\begin{itemize}
\item \fullcite{goncalves:2014:icarsc}
\item \fullcite{goncalves:2014:icdl}
\item \fullcite{saponaro:2017:icdl}
\end{itemize}%
}
\newcommand{\listPublicationsPoeticonpp}{%
\begin{itemize}
\item \fullcite{antunes:2016:icra}
\item \fullcite{antunes:2017:icdl}
\item \fullcite{saponaro:2018:poeticon++}
\end{itemize}%
}
\newcommand{\listPublicationsAppendixGestureRecognition}{%
\begin{itemize}
\item \fullcite{saponaro:2013:crhri}
\end{itemize}%
}
\newcommand{\listPublicationsAppendixHumanPercRobotGest}{%
\begin{itemize}
\item \fullcite{saponaro:2011:hri}
\end{itemize}%
}
% algorithms
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\myAlgo}{\textsc}
\newcommand{\BW}{\myAlgo{Baum--Welch}}
\newcommand{\EM}{\myAlgo{EM}}
\newcommand{\EMlong}{\myAlgo{Expectation--Maximization}}
\newcommand{\FB}{\myAlgo{Forward--Backward}}
\newcommand{\jtree}{\myAlgo{Junction Tree}}
\newcommand{\MH}{\myAlgo{Metropolis--Hastings}}
\newcommand{\UpMix}{\myAlgo{UpMix}}
\newcommand{\Viterbi}{\myAlgo{Viterbi}}
% unnumbered line in an algorithm
% http://tex.stackexchange.com/questions/11269
\def\NoNumber#1{{\def\alglinenumber##1{}\State #1}\addtocounter{ALG@line}{-1}}
% frequent expressions that require typesetting care
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\actioneffect}{action--effect}
\newcommand{\actionperception}{action--perception}
\newcommand{\actobj}{action--object}
\newcommand{\actobjeff}{action--object--effect}
\newcommand{\AffWords}{Affordance--Words}
\newcommand{\apriori}{\emph{a~priori}}
\newcommand{\armhand}{arm--hand}
\newcommand{\armhead}{arm--head}
\newcommand{\defacto}{\emph{de~facto}}
\newcommand{\GestAtt}{Gesture--Attitude}
\newcommand{\gestatt}{gesture--attitude}
\newcommand{\gestpar}{gesture--parameter}
\newcommand{\gestparval}{\gestpar--value}
\newcommand{\HC}{Human--Computer}
\newcommand{\hc}{human--computer}
\newcommand{\hh}{human--human}
\newcommand{\HCI}{\HC{} Interaction}
\newcommand{\hci}{\hc{} interaction}
\newcommand{\HR}{Human--Robot}
\newcommand{\hr}{human--robot}
\newcommand{\HRI}{\HR{} Interaction}
\newcommand{\hri}{\hr{} interaction}
\newcommand{\IntObj}{Inter--Object}
\newcommand{\intobj}{inter--object}
\newcommand{\meansend}{means--end}
\newcommand{\ObjAct}{Object--Action}
\newcommand{\objecthand}{object--hand}
\newcommand{\objobj}{object--object}
\newcommand{\SensMot}{Sensory--Motor}
\newcommand{\StructureLearning}{Structure Learning}
\newcommand{\toolbehavior}{tool--behavior}
\newcommand{\toolobj}{tool--object}
\newcommand{\wordmeaning}{word--meaning}
\newcommand{\wordsmeanings}{words--meanings}
% math operators and symbols
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\DeclareMathOperator*{\argmax}{arg\,max} % '*' places the underscored option underneath
\DeclareMathOperator\cov{cov}
\newcommand{\given}{\mid} % has space around bar, contrary to |
% permit \bigm\mid, to typeset a long vertical bar
% https://tex.stackexchange.com/a/239253
\makeatletter
\let\amsmath@bigm\bigm
\renewcommand{\bigm}[1]{%
\ifcsname fenced@\string#1\endcsname
\expandafter\@firstoftwo
\else
\expandafter\@secondoftwo
\fi
{\expandafter\amsmath@bigm\csname fenced@\string#1\endcsname}%
{\amsmath@bigm#1}%
}
\newcommand{\DeclareFence}[2]{\@namedef{fenced@\string#1}{#2}}
\makeatother
\DeclareFence{\mid}{|}
\newcommand{\biggiven}{\bigm\mid}
\newcommand{\Mdes}{\ensuremath{M_{\text{des}}}}
\newcommand{\numgestures}{\ensuremath{\text{\#gestures}}}
\newcommand{\Effect}{\ensuremath{\text{Effect}}}
\newcommand{\EffectX}{\ensuremath{\text{EffectX}}}
\newcommand{\EffectY}{\ensuremath{\text{EffectY}}}
\DeclareMathOperator{\parents}{parents}
\newcommand{\T}{\top} % transpose
% macros defined for the background chapter and for subsequent ones
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\xinf}{\ensuremath{X_\text{inf}}}
\newcommand{\xobs}{\ensuremath{X_\text{obs}}}
% macros defined for the gestures and language chapter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\xlat}{\ensuremath{X_\text{lat}}}
\newcommand{\phmm}{\ensuremath{p_{\text{HMM}}}}
\newcommand{\pbn}{\ensuremath{p_{\text{BN}}}}
\newcommand{\pcomb}{\ensuremath{p_\text{comb}}}
\newcommand{\myWidthTcds}{0.16}
% macros defined for the tool use chapter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\toolPredictionBigTabularData}{%
ball $\EffectX$ & $0$ & $0$ & $0$
& $0.3$ & $0.0233$ & $0.0137$
& $0.5$ & $0.8372$ & $0.7945$
& $0.1$ & $0.1395$ & $0.1644$
& $0.1$ & $0$ & $0.0274$
& $0.4372$ & $\bm{0.3671}$ \\
ball $\EffectY$ & $0$ & $0.01$ & $0$
& $0.1$ & $0$ & $0.0137$
& $0.5$ & $0.2$ & $0.3699$
& $0$ & $0.23$ & $0.3014$
& $0.4$ & $0.56$ & $0.3151$
& $0.65$ & $\bm{0.3872}$ \\
box $\EffectX$ & $0$ & $0$ & $0$
& $0.0909$ & $0.0233$ & $0.0337$
& $0.9091$ & $0.8372$ & $0.7416$
& $0$ & $0.1395$ & $0.2247$
& $0$ & $0$ & $0$
& $\bm{0.2071}$ & $0.2819$ \\
box $\EffectY$ & $0$ & $0$ & $0.0112$
& $0$ & $0.0204$ & $0.0449$
& $0.4545$ & $0.5306$ & $0.7079$
& $0.5455$ & $0.4490$ & $0.1348$
& $0$ & $0$ & $0.1011$
& $\bm{0.1169}$ & $0.4781$ \\
}
% macros defined for the POETICON++ chapter
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\fo}[1]{\emph{#1}} % first-order logic formulas
\newcommand{\Hmax}{\ensuremath{H_{\text{max}}}} % maximum horizon of planning
\newcommand{\myhspacePoeticonpp}{\hspace{0.3cm}} % for tab:action_rules
\newcommand{\us}{\hspace{1pt}\textunderscore} % with space for rules readability
\newcommand{\myWidthPoeticonpp}{0.14}
\newcommand{\varGood}{\ensuremath{\text{\#good}}}
\newcommand{\varTotal}{\ensuremath{\text{\#total}}}
\newcommand{\varSuccess}{\textbf{\ensuremath{\text{success}}}}
\newcommand{\varAvgSuccess}{\textbf{average success}}
\newcommand{\valTrue}{\ensuremath{\top}}
\newcommand{\valFalse}{\ensuremath{\bot}}
\newcommand{\varSpeed}{\textbf{\ensuremath{\text{speed}}}}
\newcommand{\varAvgSpeed}{\textbf{average speed}}
\newcommand{\varNoise}{\ensuremath{\text{noise}}}
% macros defined for the Human Perception of Robot Gestures appendix
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\newcommand{\myWidthHumanPercRobotGestAppendix}{0.225}