Joint Video and Text Parsing for Understanding Events and Answering Queries

We propose a framework for parsing video and text jointly for understanding events and answering user queries. Our framework produces a parse graph that represents the compositional structures of spatial information (objects and scenes), temporal information (actions and events) and causal information (causalities between events and fluents) in the video and text. The knowledge representation of our framework is based on a spatial-temporal-causal And-Or graph (S/T/C-AOG), which jointly models possible hierarchical compositions of objects, scenes and events as well as their interactions and mutual contexts, and specifies the prior probabilistic distribution of the parse graphs. We present a probabilistic generative model for joint parsing that captures the relations between the input video/text, their corresponding parse graphs and the joint parse graph. Based on the probabilistic model, we propose a joint parsing system consisting of three modules: video parsing, text parsing and joint inference. Video parsing and text parsing produce two parse graphs from the input video and text respectively. The joint inference module produces a joint parse graph by performing matching, deduction and revision on the video and text parse graphs. The proposed framework has the following objectives: Firstly, we aim at deep semantic parsing of video and text that goes beyond the traditional bag-of-words approaches; Secondly, we perform parsing and reasoning across the spatial, temporal and causal dimensions based on the joint S/T/C-AOG representation; Thirdly, we show that deep joint parsing facilitates subsequent applications such as generating narrative text descriptions and answering queries in the forms of who, what, when, where and why. We empirically evaluated our system based on comparison against ground-truth as well as accuracy of query answering and obtained satisfactory results

Learning the Semantics of Manipulation Action

In this paper we present a formal computational framework for modeling manipulation actions. The introduced formalism leads to semantics of manipulation action and has applications to both observing and understanding human manipulation actions as well as executing them with a robotic mechanism (e.g. a humanoid robot). It is based on a Combinatory Categorial Grammar. The goal of the introduced framework is to: (1) represent manipulation actions with both syntax and semantic parts, where the semantic part employs $\lambda$-calculus; (2) enable a probabilistic semantic parsing schema to learn the $\lambda$-calculus representation of manipulation action from an annotated action corpus of videos; (3) use (1) and (2) to develop a system that visually observes manipulation actions and understands their meaning while it can reason beyond observations using propositional logic and axiom schemata. The experiments conducted on a public available large manipulation action dataset validate the theoretical framework and our implementation

GLR-Parsing of Word Lattices Using a Beam Search Method

This paper presents an approach that allows the efficient integration of speech recognition and language understanding using Tomita's generalized LR-parsing algorithm. For this purpose the GLRP-algorithm is revised so that an agenda mechanism can be used to control the flow of computation of the parsing process. This new approach is used to integrate speech recognition and speech understanding incrementally with a beam search method. These considerations have been implemented and tested on ten word lattices.Comment: 4 pages, 61K postscript, compressed, uuencoded, Eurospeech 9/95, Madri

Learning Social Affordance Grammar from Videos: Transferring Human Interactions to Human-Robot Interactions

In this paper, we present a general framework for learning social affordance grammar as a spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human interactions, and transfer the grammar to humanoids to enable a real-time motion inference for human-robot interaction (HRI). Based on Gibbs sampling, our weakly supervised grammar learning can automatically construct a hierarchical representation of an interaction with long-term joint sub-tasks of both agents and short term atomic actions of individual agents. Based on a new RGB-D video dataset with rich instances of human interactions, our experiments of Baxter simulation, human evaluation, and real Baxter test demonstrate that the model learned from limited training data successfully generates human-like behaviors in unseen scenarios and outperforms both baselines.Comment: The 2017 IEEE International Conference on Robotics and Automation (ICRA

An Efficient Probabilistic Context-Free Parsing Algorithm that Computes Prefix Probabilities

We describe an extension of Earley's parser for stochastic context-free grammars that computes the following quantities given a stochastic context-free grammar and an input string: a) probabilities of successive prefixes being generated by the grammar; b) probabilities of substrings being generated by the nonterminals, including the entire string being generated by the grammar; c) most likely (Viterbi) parse of the string; d) posterior expected number of applications of each grammar production, as required for reestimating rule probabilities. (a) and (b) are computed incrementally in a single left-to-right pass over the input. Our algorithm compares favorably to standard bottom-up parsing methods for SCFGs in that it works efficiently on sparse grammars by making use of Earley's top-down control structure. It can process any context-free rule format without conversion to some normal form, and combines computations for (a) through (d) in a single algorithm. Finally, the algorithm has simple extensions for processing partially bracketed inputs, and for finding partial parses and their likelihoods on ungrammatical inputs.Comment: 45 pages. Slightly shortened version to appear in Computational Linguistics 2