Abstract
Programming by demonstration allows non-experts in robot programming to train the robots in an intuitive manner. However, this learning paradigm requires multiple demonstrations of the same task, which can be time-consuming and annoying for the human tutor. To overcome this limitation, we propose a fast learning system - based on neural dynamics - that permits collaborative robots to memorize sequential information from single task demonstrations by a human-tutor. Important, the learning system allows not only to memorize long sequences of sub-goals in a task but also the time interval between them. We implement this learning system in Sawyer (a collaborative robot from Rethink Robotics) and test it in a construction task, where the robot observes several human-tutors with different preferences on the sequential order to perform the task and different behavioral time scales. After learning, memory recall (of what and when to do a sub-task) allows the robot to instruct inexperienced human workers, in a particular human-centered task scenario.

Abstract
Diagnosis of Fabry disease (FD) remains a challenge mostly due to its rare occurrence and phenotipical variability, with considerable delay between onset and clinical diagnosis. It is then of extreme importance to explore biomarkers capable of assisting the earlier diagnosis of FD. There is growing evidence supporting the use of gait assessment in the diagnosis and management of several neurological diseases. In fact, gait abnormalities have previously been observed in FD, justifying further investigation. The aim of this study is to evaluate the effectiveness of different machine learning strategies when distinguishing patients with FD from healthy controls based on normalized gait features. Gait features of an individual are affected by physical characteristics including age, height, weight, and gender, as well as walking speed or stride length. Therefore, in order to reduce bias due to inter-subject variations a multiple regression (MR) normalization approach for gait data was performed. Four different machine learning strategies - Support Vector Machines (SVM), Random Forest (RF), Multiple Layer Perceptrons (MLPs), and Deep Belief Networks (DBNs) - were employed on raw and normalized gait data. Wearable sensors positioned on both feet were used to acquire the gait data from 36 patients with FD and 34 healthy subjects. Gait normalization using MR revealed significant differences in percentage of stance phase spent in foot flat and pushing (p < 0.05), with FD presenting lower percentages in foot flat and higher in pushing. No significant differences were observed before gait normalization. Support Vector Machine was the superior classifier achieving an FD classification accuracy of 78.21% after gait normalization, compared to 71.96% using raw gait data. Gait normalization improved the performance of all classifiers. To the best of our knowledge, this is the first study on gait classification that includes patients with FD, and our results support the use of gait assessment on the clinical assessment of FD. © 2019 IEEE.

Abstract
Recent evidence suggests that the neural mechanisms underlying memory for serial order and interval timing of sequential events are closely linked. We present a dynamic neural field model which exploits the existence and stability of multi-bump solutions with a gradient of activation to store serial order. The activation gradient is achieved by applying a state-dependent threshold accommodation process to the firing rate function. A field dynamics of lateral inhibition type is used in combination with a dynamics for the baseline activity to recall the sequence from memory. We show that depending on the time scale of the baseline dynamics the precise temporal structure of the original sequence may be retrieved or a proactive timing of events may be achieved.

Abstract
Humans are experts in cooperating in a smooth and proactive manner. Action and intention understanding are critical components of efficient joint action. In the context of the EU Integrated Project JAST [16] we have developed an anthropomorphic robot endowed with these cognitive capacities. This project and respective robot (ARoS) is the focus of the video. More specifically, the results illustrate crucial cognitive capacities for efficient and successful human-robot collaboration such as goal inference, error detection and anticipatory action selection. Results were considered one of the ICT "success stories" [22].

Abstract
Fabry disease (FD) is a rare disease commonly complicated with white matter lesions (WMLs). WMLs, which have extensively been associated with gait impairment, justify further investigation of its implication in FD. This study aims to identify a set of gait characteristics to discriminate FD patients with/without WMLs and healthy controls. Seventy-six subjects walked through a predefined circuit using gait sensors that continuously acquired different stride features. Data were normalized using multiple regression normalization taking into account the subject physical properties, with the assessment of 32 kinematic gait variables. A filter method (Mann Whitney U test and Pearson correlation) followed by a wrapper method (recursive feature elimination (RFE) for Logistic Regression (LR) and Support Vector Machine (SVM) and information gain for Random Forest (RF)) were used for feature selection. Then, five different classifiers (LR, SVM Linear and RBF kernel, RF, and K-Nearest Neighbors (KNN)) based on different selected set features were evaluated. For FD patients with WMLs versus controls the highest accuracy of 72% was obtained using LR based on 3 gait variables: pushing, foot flat, and maximum toe clearance 2. For FD patients without WMLs versus controls, the best performance was observed using LR and SVM RBF kernel based on loading, foot flat, minimum toe clearance, stride length variability, loading variability, and lift-off angle variability with an accuracy of 83%. These findings are the first step to demonstrate the potential of machine learning techniques based on gait variables as a complementary tool to understand the role of WMLs in the gait impairment of FD.

Abstract
Diagnosis of Fabry disease (FD) remains a challenge mostly due to its rare occurrence and phenotipical variability, with considerable delay between onset and clinical diagnosis. It is then of extreme importance to explore biomarkers capable of assisting the earlier diagnosis of FD. There is growing evidence supporting the use of gait assessment in the diagnosis and management of several neurological diseases. In fact, gait abnormalities have previously been observed in FD, justifying further investigation. The aim of this study is to evaluate the effectiveness of different machine learning strategies when distinguishing patients with FD from healthy controls based on normalized gait features. Gait features of an individual are affected by physical characteristics including age, height, weight, and gender, as well as walking speed or stride length. Therefore, in order to reduce bias due to inter-subject variations a multiple regression (MR) normalization approach for gait data was performed. Four different machine learning strategies Support Vector Machines (SVM), Random Forest (RF), Multiple Layer Perceptrons (MLPs), and Deep Belief Networks (DBNs) - were employed on raw and normalized gait data. Wearable sensors positioned on both feet were used to acquire the gait data from 36 patients with FD and 34 healthy subjects. Gait normalization using MR revealed significant differences in percentage of stance phase spent in foot flat and pushing (p < 0.05), with FD presenting lower percentages in foot flat and higher in pushing. No significant differences were observed before gait normalization. Support Vector Machine was the superior classifier achieving an FD classification accuracy of 78.21 % after gait normalization, compared to 71.96% using raw gait data. Gait normalization improved the performance of all classifiers. To the best of our knowledge, this is the first study on gait classification that includes patients with FD, and our results support the use of gait assessment on the clinical assessment of FD.