92,122 research outputs found
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task
Programming (NTP), which bridges the idea of few-shot learning from
demonstration and neural program induction. NTP takes as input a task
specification (e.g., video demonstration of a task) and recursively decomposes
it into finer sub-task specifications. These specifications are fed to a
hierarchical neural program, where bottom-level programs are callable
subroutines that interact with the environment. We validate our method in three
robot manipulation tasks. NTP achieves strong generalization across sequential
tasks that exhibit hierarchal and compositional structures. The experimental
results show that NTP learns to generalize well to- wards unseen tasks with
increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201
Cognitive visual tracking and camera control
Cognitive visual tracking is the process of observing and understanding the behaviour of a moving person. This paper presents an efficient solution to extract, in real-time, high-level information from an observed scene, and generate the most appropriate commands for a set of pan-tilt-zoom (PTZ) cameras in a surveillance scenario. Such a high-level feedback control loop, which is the main novelty of our work, will serve to reduce uncertainties in the observed scene and to maximize the amount of information extracted from it. It is implemented with a distributed camera system using SQL tables as virtual communication channels, and Situation Graph Trees for knowledge representation, inference and high-level camera control. A set of experiments in a surveillance scenario show the effectiveness of our approach and its potential for real applications of cognitive vision
Modeling Interdependent and Periodic Real-World Action Sequences
Mobile health applications, including those that track activities such as
exercise, sleep, and diet, are becoming widely used. Accurately predicting
human actions is essential for targeted recommendations that could improve our
health and for personalization of these applications. However, making such
predictions is extremely difficult due to the complexities of human behavior,
which consists of a large number of potential actions that vary over time,
depend on each other, and are periodic. Previous work has not jointly modeled
these dynamics and has largely focused on item consumption patterns instead of
broader types of behaviors such as eating, commuting or exercising. In this
work, we develop a novel statistical model for Time-varying, Interdependent,
and Periodic Action Sequences. Our approach is based on personalized,
multivariate temporal point processes that model time-varying action
propensities through a mixture of Gaussian intensities. Our model captures
short-term and long-term periodic interdependencies between actions through
Hawkes process-based self-excitations. We evaluate our approach on two activity
logging datasets comprising 12 million actions taken by 20 thousand users over
17 months. We demonstrate that our approach allows us to make successful
predictions of future user actions and their timing. Specifically, our model
improves predictions of actions, and their timing, over existing methods across
multiple datasets by up to 156%, and up to 37%, respectively. Performance
improvements are particularly large for relatively rare and periodic actions
such as walking and biking, improving over baselines by up to 256%. This
demonstrates that explicit modeling of dependencies and periodicities in
real-world behavior enables successful predictions of future actions, with
implications for modeling human behavior, app personalization, and targeting of
health interventions.Comment: Accepted at WWW 201
Learning Human Motion Models for Long-term Predictions
We propose a new architecture for the learning of predictive spatio-temporal
motion models from data alone. Our approach, dubbed the Dropout Autoencoder
LSTM, is capable of synthesizing natural looking motion sequences over long
time horizons without catastrophic drift or motion degradation. The model
consists of two components, a 3-layer recurrent neural network to model
temporal aspects and a novel auto-encoder that is trained to implicitly recover
the spatial structure of the human skeleton via randomly removing information
about joints during training time. This Dropout Autoencoder (D-AE) is then used
to filter each predicted pose of the LSTM, reducing accumulation of error and
hence drift over time. Furthermore, we propose new evaluation protocols to
assess the quality of synthetic motion sequences even for which no ground truth
data exists. The proposed protocols can be used to assess generated sequences
of arbitrary length. Finally, we evaluate our proposed method on two of the
largest motion-capture datasets available to date and show that our model
outperforms the state-of-the-art on a variety of actions, including cyclic and
acyclic motion, and that it can produce natural looking sequences over longer
time horizons than previous methods
Hidden Two-Stream Convolutional Networks for Action Recognition
Analyzing videos of human actions involves understanding the temporal
relationships among video frames. State-of-the-art action recognition
approaches rely on traditional optical flow estimation methods to pre-compute
motion information for CNNs. Such a two-stage approach is computationally
expensive, storage demanding, and not end-to-end trainable. In this paper, we
present a novel CNN architecture that implicitly captures motion information
between adjacent frames. We name our approach hidden two-stream CNNs because it
only takes raw video frames as input and directly predicts action classes
without explicitly computing optical flow. Our end-to-end approach is 10x
faster than its two-stage baseline. Experimental results on four challenging
action recognition datasets: UCF101, HMDB51, THUMOS14 and ActivityNet v1.2 show
that our approach significantly outperforms the previous best real-time
approaches.Comment: Accepted at ACCV 2018, camera ready. Code available at
https://github.com/bryanyzhu/Hidden-Two-Strea
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
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