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

A semantics-based approach to sensor data segmentation in real-time Activity Recognition

Department of Information Engineering, Dalian University, China The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.Activity Recognition (AR) is key in context-aware assistive living systems. One challenge in AR is the segmentation of observed sensor events when interleaved or concurrent activities of daily living (ADLs) are performed. Several studies have proposed methods of separating and organising sensor observations and recognise generic ADLs performed in a simple or composite manner. However, little has been explored in semantically distinguishing individual sensor events directly and passing it to the relevant ongoing/new atomic activities. This paper proposes Semiotic theory inspired ontological model, capturing generic knowledge and inhabitant-specific preferences for conducting ADLs to support the segmentation process. A multithreaded decision algorithm and system prototype were developed and evaluated against 30 use case scenarios where each event was simulated at 10sec interval on a machine with i7 2.60GHz CPU, 2 cores and 8GB RAM. The result suggests that all sensor events were adequately segmented with 100% accuracy for single ADL scenarios and minor improvement of 97.8% accuracy for composite ADL scenario. However, the performance has suffered to segment each event with the average classification time of 3971ms and 62183ms for single and composite ADL scenarios, respectively

VQS: Linking Segmentations to Questions and Answers for Supervised Attention in VQA and Question-Focused Semantic Segmentation

Rich and dense human labeled datasets are among the main enabling factors for the recent advance on vision-language understanding. Many seemingly distant annotations (e.g., semantic segmentation and visual question answering (VQA)) are inherently connected in that they reveal different levels and perspectives of human understandings about the same visual scenes --- and even the same set of images (e.g., of COCO). The popularity of COCO correlates those annotations and tasks. Explicitly linking them up may significantly benefit both individual tasks and the unified vision and language modeling. We present the preliminary work of linking the instance segmentations provided by COCO to the questions and answers (QAs) in the VQA dataset, and name the collected links visual questions and segmentation answers (VQS). They transfer human supervision between the previously separate tasks, offer more effective leverage to existing problems, and also open the door for new research problems and models. We study two applications of the VQS data in this paper: supervised attention for VQA and a novel question-focused semantic segmentation task. For the former, we obtain state-of-the-art results on the VQA real multiple-choice task by simply augmenting the multilayer perceptrons with some attention features that are learned using the segmentation-QA links as explicit supervision. To put the latter in perspective, we study two plausible methods and compare them to an oracle method assuming that the instance segmentations are given at the test stage.Comment: To appear on ICCV 201