Multimodal Hierarchical Dirichlet Process-based Active Perception

In this paper, we propose an active perception method for recognizing object categories based on the multimodal hierarchical Dirichlet process (MHDP). The MHDP enables a robot to form object categories using multimodal information, e.g., visual, auditory, and haptic information, which can be observed by performing actions on an object. However, performing many actions on a target object requires a long time. In a real-time scenario, i.e., when the time is limited, the robot has to determine the set of actions that is most effective for recognizing a target object. We propose an MHDP-based active perception method that uses the information gain (IG) maximization criterion and lazy greedy algorithm. We show that the IG maximization criterion is optimal in the sense that the criterion is equivalent to a minimization of the expected Kullback--Leibler divergence between a final recognition state and the recognition state after the next set of actions. However, a straightforward calculation of IG is practically impossible. Therefore, we derive an efficient Monte Carlo approximation method for IG by making use of a property of the MHDP. We also show that the IG has submodular and non-decreasing properties as a set function because of the structure of the graphical model of the MHDP. Therefore, the IG maximization problem is reduced to a submodular maximization problem. This means that greedy and lazy greedy algorithms are effective and have a theoretical justification for their performance. We conducted an experiment using an upper-torso humanoid robot and a second one using synthetic data. The experimental results show that the method enables the robot to select a set of actions that allow it to recognize target objects quickly and accurately. The results support our theoretical outcomes.Comment: submitte

Classification of Overlapped Audio Events Based on AT, PLSA, and the Combination of Them

Audio event classification, as an important part of Computational Auditory Scene Analysis, has attracted much attention. Currently, the classification technology is mature enough to classify isolated audio events accurately, but for overlapped audio events, it performs much worse. While in real life, most audio documents would have certain percentage of overlaps, and so the overlap classification problem is an important part of audio classification. Nowadays, the work on overlapped audio event classification is still scarce, and most existing overlap classification systems can only recognize one audio event for an overlap. In this paper, in order to deal with overlaps, we innovatively introduce the author-topic (AT) model which was first proposed for text analysis into audio classification, and innovatively combine it with PLSA (Probabilistic Latent Semantic Analysis). We propose 4 systems, i.e. AT, PLSA, AT-PLSA and PLSA-AT, to classify overlaps. The 4 proposed systems have the ability to recognize two or more audio events for an overlap. The experimental results show that the 4 systems perform well in classifying overlapped audio events, whether it is the overlap in training set or the overlap out of training set. Also they perform well in classifying isolated audio events

Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic

Learning Multimodal Latent Attributes

Abstract—The rapid development of social media sharing has created a huge demand for automatic media classification and annotation techniques. Attribute learning has emerged as a promising paradigm for bridging the semantic gap and addressing data sparsity via transferring attribute knowledge in object recognition and relatively simple action classification. In this paper, we address the task of attribute learning for understanding multimedia data with sparse and incomplete labels. In particular we focus on videos of social group activities, which are particularly challenging and topical examples of this task because of their multi-modal content and complex and unstructured nature relative to the density of annotations. To solve this problem, we (1) introduce a concept of semi-latent attribute space, expressing user-defined and latent attributes in a unified framework, and (2) propose a novel scalable probabilistic topic model for learning multi-modal semi-latent attributes, which dramatically reduces requirements for an exhaustive accurate attribute ontology and expensive annotation effort. We show that our framework is able to exploit latent attributes to outperform contemporary approaches for addressing a variety of realistic multimedia sparse data learning tasks including: multi-task learning, learning with label noise, N-shot transfer learning and importantly zero-shot learning

Machine Understanding of Human Behavior

A widely accepted prediction is that computing will move to the background, weaving itself into the fabric of our everyday living spaces and projecting the human user into the foreground. If this prediction is to come true, then next generation computing, which we will call human computing, should be about anticipatory user interfaces that should be human-centered, built for humans based on human models. They should transcend the traditional keyboard and mouse to include natural, human-like interactive functions including understanding and emulating certain human behaviors such as affective and social signaling. This article discusses a number of components of human behavior, how they might be integrated into computers, and how far we are from realizing the front end of human computing, that is, how far are we from enabling computers to understand human behavior

Mapping Acoustic and Semantic Dimensions of Auditory Perception

Auditory categorisation is a function of sensory perception which allows humans to generalise across many different sounds present in the environment and classify them into behaviourally relevant categories. These categories cover not only the variance of acoustic properties of the signal but also a wide variety of sound sources. However, it is unclear to what extent the acoustic structure of sound is associated with, and conveys, different facets of semantic category information. Whether people use such data and what drives their decisions when both acoustic and semantic information about the sound is available, also remains unknown. To answer these questions, we used the existing methods broadly practised in linguistics, acoustics and cognitive science, and bridged these domains by delineating their shared space. Firstly, we took a model-free exploratory approach to examine the underlying structure and inherent patterns in our dataset. To this end, we ran principal components, clustering and multidimensional scaling analyses. At the same time, we drew sound labels’ semantic space topography based on corpus-based word embeddings vectors. We then built an LDA model predicting class membership and compared the model-free approach and model predictions with the actual taxonomy. Finally, by conducting a series of web-based behavioural experiments, we investigated whether acoustic and semantic topographies relate to perceptual judgements. This analysis pipeline showed that natural sound categories could be successfully predicted based on the acoustic information alone and that perception of natural sound categories has some acoustic grounding. Results from our studies help to recognise the role of physical sound characteristics and their meaning in the process of sound perception and give an invaluable insight into the mechanisms governing the machine-based and human classifications