Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects. To achieve this, it first uses a category-agnostic affordance prediction algorithm to select and execute among four different grasping primitive behaviors. It then recognizes picked objects with a cross-domain image classification framework that matches observed images to product images. Since product images are readily available for a wide range of objects (e.g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data. Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy for both known and novel grasped objects. The approach was part of the MIT-Princeton Team system that took 1st place in the stowing task at the 2017 Amazon Robotics Challenge. All code, datasets, and pre-trained models are available online at http://arc.cs.princeton.eduComment: Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIk

Project RISE: Recognizing Industrial Smoke Emissions

Industrial smoke emissions pose a significant concern to human health. Prior works have shown that using Computer Vision (CV) techniques to identify smoke as visual evidence can influence the attitude of regulators and empower citizens to pursue environmental justice. However, existing datasets are not of sufficient quality nor quantity to train the robust CV models needed to support air quality advocacy. We introduce RISE, the first large-scale video dataset for Recognizing Industrial Smoke Emissions. We adopted a citizen science approach to collaborate with local community members to annotate whether a video clip has smoke emissions. Our dataset contains 12,567 clips from 19 distinct views from cameras that monitored three industrial facilities. These daytime clips span 30 days over two years, including all four seasons. We ran experiments using deep neural networks to establish a strong performance baseline and reveal smoke recognition challenges. Our survey study discussed community feedback, and our data analysis displayed opportunities for integrating citizen scientists and crowd workers into the application of Artificial Intelligence for social good.Comment: Technical repor

GART: The Gesture and Activity Recognition Toolkit

Presented at the 12th International Conference on Human-Computer Interaction, Beijing, China, July 2007.The original publication is available at www.springerlink.comThe Gesture and Activity Recognition Toolit (GART) is a user interface toolkit designed to enable the development of gesture-based applications. GART provides an abstraction to machine learning algorithms suitable for modeling and recognizing different types of gestures. The toolkit also provides support for the data collection and the training process. In this paper, we present GART and its machine learning abstractions. Furthermore, we detail the components of the toolkit and present two example gesture recognition applications

Enhancing Energy Minimization Framework for Scene Text Recognition with Top-Down Cues

Recognizing scene text is a challenging problem, even more so than the recognition of scanned documents. This problem has gained significant attention from the computer vision community in recent years, and several methods based on energy minimization frameworks and deep learning approaches have been proposed. In this work, we focus on the energy minimization framework and propose a model that exploits both bottom-up and top-down cues for recognizing cropped words extracted from street images. The bottom-up cues are derived from individual character detections from an image. We build a conditional random field model on these detections to jointly model the strength of the detections and the interactions between them. These interactions are top-down cues obtained from a lexicon-based prior, i.e., language statistics. The optimal word represented by the text image is obtained by minimizing the energy function corresponding to the random field model. We evaluate our proposed algorithm extensively on a number of cropped scene text benchmark datasets, namely Street View Text, ICDAR 2003, 2011 and 2013 datasets, and IIIT 5K-word, and show better performance than comparable methods. We perform a rigorous analysis of all the steps in our approach and analyze the results. We also show that state-of-the-art convolutional neural network features can be integrated in our framework to further improve the recognition performance

Establishing the "new" into "the way we do things": Reviewing paper aims and content in response to national and local developments.

This paper reports on a review of "Professional practice and inquiry I" in response to local and national developments. The introduction of The New Zealand Curriculum (Ministry of Education, 2007) raised questions for initial teacher educators about how they might prepare their pre-service student teachers to teach using this updated curriculum. "Professional practice and inquiry I" is a first semester compulsory professional paper University of Waikato Bachelor of Teaching students (primary). The introduction of the 2007 national curriculum document was not the only reason for a review of this professional paper. This paper outlines how the teaching team had recognized the mixture of influences that impact on the development of paper content, explains in some detail what we did for the teaching and learning of the new 2007 key competencies, and the outcomes we found through collecting student voice. This was part of a collaborative research project investigating the teaching and learning of the "front end" of The New Zealand Curriculum (ibid) and incorporating those findings into the primary Bachelor of Teaching programme

Towards Language-Universal End-to-End Speech Recognition

Building speech recognizers in multiple languages typically involves replicating a monolingual training recipe for each language, or utilizing a multi-task learning approach where models for different languages have separate output labels but share some internal parameters. In this work, we exploit recent progress in end-to-end speech recognition to create a single multilingual speech recognition system capable of recognizing any of the languages seen in training. To do so, we propose the use of a universal character set that is shared among all languages. We also create a language-specific gating mechanism within the network that can modulate the network's internal representations in a language-specific way. We evaluate our proposed approach on the Microsoft Cortana task across three languages and show that our system outperforms both the individual monolingual systems and systems built with a multi-task learning approach. We also show that this model can be used to initialize a monolingual speech recognizer, and can be used to create a bilingual model for use in code-switching scenarios.Comment: submitted to ICASSP 201