The Learning Applied to Ground Vehicles (LAGR) program, which ran from 2004 until 2008, had the goal of accelerating progress in autonomous, perception-based, off-road navigation in robotic unmanned ground vehicles (UGVs). LAGR was funded by DARPA, a research agency of the United States Department of Defense. == History and background == While mobile robots had been in existence since the 1960s, (e.g. Shakey), progress in creating robots that could navigate on their own, outdoors, off-road, on irregular, obstacle-rich terrain had been slow. In fact, no clear metrics were in place to measure progress. A baseline understanding of off-road capabilities began to emerge with the DARPA PerceptOR program in which independent research teams fielded robotic vehicles in unrehearsed Government tests that measured average speed and number of required operator interventions over a fixed course over widely spaced waypoints. These tests exposed the extreme challenges of off-road navigation. While the PerceptOR vehicles were equipped with sensors and algorithms that were state-of-the-art for the beginning of the 21st century, the limited range of their perception technology caused them to become trapped in natural cul-de-sacs. Furthermore, their reliance on pre-scripted behaviors did not allow them to adapt to unexpected circumstances. The overall result was that except for essentially open terrain with minimal obstacles, or along dirt roads, the PerceptOR vehicles were unable navigate without numerous, repeated operator intervention. The LAGR program was designed to build on the methodology started in PerceptOR while seeking to overcome the technical challenges exposed by the PerceptOR tests. == LAGR goals == The principal goal of LAGR was to accelerate progress in off navigation of UGVs. Additional, synergistic goals included (1) establishing benchmarking methodology for measuring progress for autonomous robots operating in unstructured environments, (2) advancing machine vision and thus enabling long-range perception, and (3) increasing the number of institutions and individuals who were able to contribute to forefront UGV research. == Structure and rationale of the LAGR program == The LAGR program was designed to focus on developing new science for robot perception and control rather than on new hardware. Thus, it was decided to create a fleet of identical, relatively simple robots that would be supplied to the LAGR researchers, who were members of competitive teams, freeing them to concentrate on algorithm development. The teams were each given two robots of the standard design. They developed new software on these robots, and then sent the code to a government test team that then tested that code on Government robots at various test courses. These courses were located throughout the US and were not previously known to the teams. In this way, the code from all teams could be tested in essentially identical circumstances. After an initial startup period, the code development/test cycle was repeated about once every month. The standard robot was designed and built by the Carnegie Mellon University National Robotics Engineering Center (CMU NREC). The vehicles’ computers were preloaded with a modular “Baseline” perception and navigation system that was essentially the same system that CMU NREC had created for the PerceptOR program and was considered to represent the state-of-the-art at the inception of LAGR. The modular nature of the Baseline system allowed the researchers to replace parts of the Baseline code with their own modules and still have a complete working system without having to create an entire navigation system from scratch. Thus, for example, they were able to compare the performance of their own obstacle detection module with that of the Baseline code, while holding everything else fixed. The Baseline code also served as a fixed reference – in any environment and at any time in the program, teams’ code could be compared to the Baseline code. This rapid cycle gave the Government team and the performer teams quick feedback and allowed the Government team to design test courses that challenged the performers in specific perception tasks and whose difficulty was likely to challenge, but not overwhelm, the performers’ current capabilities. Teams were not required to submit new code for every test, but usually did. Despite this leeway, some teams found the rapid test cycle distracting to their long term progress and would have preferred a longer interval between tests. === Phase II === To advance to Phase II, each team had to modify the Baseline code so that on the final 3 tests of Phase I of the government tests, robots running the team's code averaged at least 10% faster than a vehicle running the original Baseline code. This rather modest “Go/ No Go” metric was chosen to allow teams to choose risky, but promising approaches that might not be fully developed in the first 18 months of the program. All 8 teams achieved this metric, with some scoring more twice the speed of the Baseline on the later tests which was the objective for Phase II. Note that the Phase I Go / No Go metric was such that teams were not in completion with each other for a limited number of slots on Phase II: any number of teams, from eight to zero could make the grade. This strategy by DARPA was to designed to encourage cooperation and even code sharing among the teams. == The LAGR teams == Eight teams were selected as performers in Phase I, the first 18 months of LAGR. The teams were from Applied Perception (Principal Investigator [PI] Mark Ollis), Georgia Tech (PI Tucker Balch), Jet Propulsion Laboratory (PI Larry Matthies), Net-Scale Technologies (PI Urs Muller), NIST (PI James Albus), Stanford University (PI Sebastian Thrun), SRI International (PI Robert Bolles), and University of Pennsylvania (PI Daniel Lee). The Stanford team resigned at the end of Phase I to focus its efforts on the DARPA Grand Challenge; it was replaced by a team from the University of Colorado, Boulder (PI Greg Grudic). Also in Phase II, the NIST team suspended its participation in the competition and instead concentrated on assembling the best software elements from each team into a single system. Roger Bostelman became PI of that effort. == The LAGR vehicle == The LAGR vehicle, which was about the size of a supermarket shopping cart, was designed to be simple to control. (A companion DARPA program, Learning Locomotion, addressed complex motor control.) It was battery powered and had two independently driven wheelchair motors in the front, and two caster wheels in the rear. When the front wheels were rotated in the same direction the robot was driven either forward or reverse. When these wheels were driven in opposite directions, the robot turned. The ~ $30,000 cost of the LAGR vehicle meant that a fleet could be built and distributed to a number of teams expanding on the field of researchers who had traditionally participated in DARPA robotics programs. The vehicle's top speed of about 3 miles/ hour and relatively modest weight of ~100 kg meant that it posed a much reduced safety hazard compared to vehicles used in previous programs in unmanned ground vehicles and thus further reduced the budget required for each team to manage its robot. Nevertheless, the LAGR vehicles were sophisticated machines. Their sensor suite included 2 pairs of stereo cameras, an accelerometer, a bumper sensor, wheel encoders, and a GPS. The vehicle also had three computers that were user-programmable. == Scientific results == A cornerstone of the program was incorporation of learned behaviors in the robots. In addition, the program used passive optical systems to accomplish long-range scene analysis. The difficulty of testing UGV navigation in unstructured, off-road environments made accurate, objective measurement of progress a challenging task. While no absolute measure of performance had been defined in LAGR, the relative comparison of a team's code to that of the Baseline code on a given course demonstrated whether progress was being made in that environment. By the conclusion of the program, testing showed that many of the performers had attained leaps in performance. In particular, average autonomous speeds were increased by factor of 3 and useful visual perception was extended to ranges as far as 100 meters. While LAGR did succeed in extending the useful range of visual perception, this was primarily done by either pixel or patch-based color or texture analysis. Object recognition was not directly addressed. Even though the LAGR vehicle had a WAAS GPS, its position was never determined down to the width of the vehicle, so it was hard for the systems to re-use obstacle maps of areas the robots had previously traversed since the GPS continually drifted. The drift was especially severe if there was a forest canopy. A few teams developed visual odometry algorithms that essentially eliminated this drift.
Breakup Notifier
Breakup Notifier was a web application written by product developer and programmer Dan Loewenherz that enabled its registered users to track the relationship status of their Facebook friends. An email notification was sent to the user when one of their Facebook friends changed their relationship status. The app was one of the most viral Facebook app's at the time of its release. It was mentioned in a skit on The Jay Leno Show and news of its popularity was published in Time magazine, The New York Post, CNET, and The Globe and Mail. == Popularity and Facebook controversy == Breakup Notifier gathered 100,000 users in less than 24 hours of its launch and reached a user base of more than 3,000,000 in February 2011. Facebook then blocked the app. Loewenherz later created an app named Crush Notifier, which differs from the original app in that users can check if they have a mutual crush. Breakup Notifier was later unblocked by Facebook and monetized.
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.
Paola Velardi
Paola Velardi (born in Rome, April 26, 1955) is a full professor of computer science at Sapienza University in Rome, Italy. Her research encompasses Artificial Intelligence and specifically, natural language processing, machine learning business intelligence and semantic web. Velardi is one of the hundred female scientists included in the database "100esperte.it" (translated from Italian with "100 female experts"). This online, open database champions the recognition of top-rated female scientists in Science, Technology, Engineering and Mathematics (STEM) areas. Among her prestigious appointments and honors, her inclusion stands out —alongside 45 other international female scientists from the past, present, and future— in the Women in Science pavilion of UNESCO’s Virtual Science Museum. == Research == Paola Velardi's research activity has focused, since the early 1980s, on Artificial Intelligence, with a particular emphasis on natural language processing (NLP), Machine learning, and data mining. Her scientific contributions have evolved over time, following the sector's primary paradigms: Semantic Web and Ontologies: She is known for her pioneering work on semantic disambiguation and automated ontology learning, collaborating on the development of systems such as OntoLearn. Social Computing and Predictive Analysis: She has conducted research on extracting information from social media for epidemiological monitoring (syndromic surveillance) and for the identification of opinion leaders. In the educational field, she has developed machine learning models to predict the risk of student dropout. AI for Health and Elder Monitoring: She has coordinated projects to support frailty in the elderly, developing systems based on ambient intelligence and wearables to detect clinical and behavioral anomalies. She has also contributed to models for analyzing behavioral changes through dynamic clustering. Generative AI and Finance: More recently, her research has expanded into the use of generative AI and deep learning for finance, including benchmark studies on price trend prediction based on Limit Order Books (LOB) and the development of diffusion models for realistic market simulation (the TRADES project). According to Google Scholar bibliometrics updated until December 2025, Velardi's scientific publications have been cited more than 8100 times. Her h-index was 42. She has published more than 200 papers in international journals and conference proceedings. Some of her publications have been published in top rated journals such as Artificial Intelligence, Computational Linguistics, Knowledge-Based Systems, IEEE Transactions on Data and Knowledge Engineering , IEEE Transactions on Pattern Analysis and Machine Intelligence, IEEE Transactions on Computers, IEEE Transactions on Software Engineering , Data Mining and Knowledge Discovery, and Journal of Web Semantics. == Education and previous employments == Velardi graduated in electronic engineering from Sapienza University in 1978. From 1978 to 1983, she worked for the Ugo Bordoni Foundation, a research institution focusing on ICT and working under the supervision of the Italian Ministry of Economic Development. In 1983, she was a visiting scholar at Stanford University. During this period she became passionate about Artificial Intelligence, which will remain her area of research throughout her career. From 1984 to 1986, she came back to her natal city and worked as a researcher for IBM. From 1986 to 1996 she was an associate professor in the engineering faculty of Polytechnic University of the Marches (Ancona, Italy). Starting in November 1996, she taught in and did research for the Department of Computer Science at the Sapienza University. Velardi was the head of Bachelor and Master Programs in Computer Science at Sapienza University from 2010 to 2013 and from 2015 to 2016. == Current employment == Since November 2001, Velardi has been a full professor in the department of computer science ("Dipartimento di Informatica" in Italian) at Sapienza University in Rome, Italy. Since 2013, she has been the coordinator of the Distance Learning Degree in Computer Science at Sapienza University. As of today, Velardi is a Senior Associate at the Institute of Cognitive Sciences and Technologies (ISTC) of the CNR. == Recognition == Velardi is one of the hundred female scientists included in the database "100esperte.it" (translated from Italian with "100 female experts"). This database lists top Italian female STEM scientists. Six out of one hundred scientists in the 100esperte's database are computer scientists like Velardi. Velardi is in the list of the top Italian scientists. A top scientist appearing in the Top-Italian-Scientists database is a scientist whose h-index is greater than 30. In March 2017, she was given an IBM Faculty Award for her research on social recommender systems. In December 2018, Velardi was included in the list of the 50 most influential Italian women in science and technology by Inspiring Fifty, a non-profit that aims to increase diversity in STEM by making female role models in tech more visible. In September 2019 she was the local co-organizer and Program Chair of the 6th ACM Celebration of Women in Computing. In November 2019 Velardi received the Standout Woman Award International at the seat of the Italian Parliament in Montecitorio. == Causes == Velardi aims at debunking the myth of computer science as a man-oriented and "inflexible" discipline. She is the founder of the project "NERD? Non e' roba per donne?" (translated from Italian: "NERD? Is it not stuff for women?"). This project was launched by Velardi in 2012 in the Department of Computer Science at Sapienza University. Since 2013 the project has been carried out in partnership with IBM Italy, which later created a spin-off of the project. The goal of the project is two-fold: (1) conveying computer science as creative, interdisciplinary and problem-solving-oriented science, and (2) encouraging young female students in studying computer science by, for instance, developing apps for smartphones. She has been the program chair of the 19th ACM celebration of Women in Computing. She is the creator and coordinator of the G4GRETA, an educational project that involves students of the third and fourth grades of Rome and Lazio. The project combines the development of IT skills with the themes of environmental sustainability and soft skills (teambuilding, pitching, social networking, etc.) Velardi is also involved in scientific dissemination. In 2020 and 2021 she cooperated with RaiCultura, the cultural division of RAI, the national broadcasting company.
Dialogflow
Dialogflow is a natural language understanding platform used to design and integrate a conversational user interface into mobile apps, web applications, devices, bots, interactive voice response systems and related uses. == History == In May 2012, Speaktoit received a venture round (funding terms undisclosed) from Intel Capital. In July 2014, Speaktoit closed their Series B funding led by Motorola Solutions Venture Capital with participation from new investor Plug and Play Ventures and existing backers Intel Capital and Alpine Technology Fund. In September 2014, Speaktoit released api.ai (the voice-enabling engine that powers Assistant) to third-party developers, allowing the addition of voice interfaces to apps based on Android, iOS, HTML5, and Cordova. The SDK's contain voice recognition, natural language understanding, and text-to-speech. api.ai offers a web interface to build and test conversation scenarios. The platform is based on the natural language processing engine built by Speaktoit for its Assistant application. Api.ai allows Internet of Things developers to include natural language voice interfaces in their products. Assistant and Speaktoit's websites now redirect to api.ai's website Archived 2017-10-10 at the Wayback Machine, which redirects to the Dialogflow website. Google bought the company in September 2016 and was initially known as API.AI; it provides tools to developers building apps ("Actions") for the Google Assistant virtual assistant. The organization discontinued the Assistant app on December 15, 2016. In October 2017, it was renamed as Dialogflow. In November 2017, Dialogflow became part of Google Cloud Platform.
Google Gadgets
Google Gadgets are dynamic web content that can be embedded on a web page. They can be added to and interact strongly with Google's iGoogle personalized home page (discontinued in November 2013, although iGoogle Gadgets still work on other websites) and the Google Desktop (discontinued in September 2011) application, as well as Google Wave (also no longer supported by Google) and Google Sites. Webmasters can add and customize a gadget to their own business or personal web site, a process called "syndication". Gadgets are developed by Google and third-party developers using the Google Gadgets API, using basic web technologies such as XML and JavaScript. == Multi-user persistent - Wave Gadgets == With the advent of Google Wave (now Apache Wave), gadgets became able to have persistent storage and multi-user capabilities and better state management. Gadgets using Google Wave in this way were simply known as 'Wave Gadgets'. For instance, a game written using a Google Gadget could use Google Wave technology to record a list of users and high scores without having to worry about how to permanently store the scores on a hosted server. The use of Google Wave would give the gadget multi-user and permanent storage capabilities. For example, scores could be stored in a Google Wave hosted permanently by Google at no cost to the user. As of early 2013, Google Gadgets were deprecated in Google Spreadsheets. Shortly after, they were removed from all spreadsheets. == Technology == Google Gadgets are written in XML and can have HTML and JavaScript components, and were able to use Google Wave. Here is an example of a Hello World program written using Google Gadget technology. Google Gadgets API is a Google API which allows developers to create Google Gadgets easily.
EDLUT
EDLUT (Event-Driven LookUp Table) is a computer application for simulating networks of spiking neurons. It was developed in the University of Granada and source code was released under GNU GPL version 3. EDLUT uses event-driven simulation scheme and lookup tables to efficiently simulate medium or large spiking neural networks. This allows this application to simulate detailed biological neuron models and to interface with experimental setups (such as a robotic arm) in real time.