317,465 research outputs found
Learning Robot Activities from First-Person Human Videos Using Convolutional Future Regression
We design a new approach that allows robot learning of new activities from
unlabeled human example videos. Given videos of humans executing the same
activity from a human's viewpoint (i.e., first-person videos), our objective is
to make the robot learn the temporal structure of the activity as its future
regression network, and learn to transfer such model for its own motor
execution. We present a new deep learning model: We extend the state-of-the-art
convolutional object detection network for the representation/estimation of
human hands in training videos, and newly introduce the concept of using a
fully convolutional network to regress (i.e., predict) the intermediate scene
representation corresponding to the future frame (e.g., 1-2 seconds later).
Combining these allows direct prediction of future locations of human hands and
objects, which enables the robot to infer the motor control plan using our
manipulation network. We experimentally confirm that our approach makes
learning of robot activities from unlabeled human interaction videos possible,
and demonstrate that our robot is able to execute the learned collaborative
activities in real-time directly based on its camera input
Deep Thermal Imaging: Proximate Material Type Recognition in the Wild through Deep Learning of Spatial Surface Temperature Patterns
We introduce Deep Thermal Imaging, a new approach for close-range automatic
recognition of materials to enhance the understanding of people and ubiquitous
technologies of their proximal environment. Our approach uses a low-cost mobile
thermal camera integrated into a smartphone to capture thermal textures. A deep
neural network classifies these textures into material types. This approach
works effectively without the need for ambient light sources or direct contact
with materials. Furthermore, the use of a deep learning network removes the
need to handcraft the set of features for different materials. We evaluated the
performance of the system by training it to recognise 32 material types in both
indoor and outdoor environments. Our approach produced recognition accuracies
above 98% in 14,860 images of 15 indoor materials and above 89% in 26,584
images of 17 outdoor materials. We conclude by discussing its potentials for
real-time use in HCI applications and future directions.Comment: Proceedings of the 2018 CHI Conference on Human Factors in Computing
System
Reactive Planar Manipulation with Convex Hybrid MPC
This paper presents a reactive controller for planar manipulation tasks that
leverages machine learning to achieve real-time performance. The approach is
based on a Model Predictive Control (MPC) formulation, where the goal is to
find an optimal sequence of robot motions to achieve a desired object motion.
Due to the multiple contact modes associated with frictional interactions, the
resulting optimization program suffers from combinatorial complexity when
tasked with determining the optimal sequence of modes.
To overcome this difficulty, we formulate the search for the optimal mode
sequences offline, separately from the search for optimal control inputs
online. Using tools from machine learning, this leads to a convex hybrid MPC
program that can be solved in real-time. We validate our algorithm on a planar
manipulation experimental setup where results show that the convex hybrid MPC
formulation with learned modes achieves good closed-loop performance on a
trajectory tracking problem
Semi-Supervised Speech Emotion Recognition with Ladder Networks
Speech emotion recognition (SER) systems find applications in various fields
such as healthcare, education, and security and defense. A major drawback of
these systems is their lack of generalization across different conditions. This
problem can be solved by training models on large amounts of labeled data from
the target domain, which is expensive and time-consuming. Another approach is
to increase the generalization of the models. An effective way to achieve this
goal is by regularizing the models through multitask learning (MTL), where
auxiliary tasks are learned along with the primary task. These methods often
require the use of labeled data which is computationally expensive to collect
for emotion recognition (gender, speaker identity, age or other emotional
descriptors). This study proposes the use of ladder networks for emotion
recognition, which utilizes an unsupervised auxiliary task. The primary task is
a regression problem to predict emotional attributes. The auxiliary task is the
reconstruction of intermediate feature representations using a denoising
autoencoder. This auxiliary task does not require labels so it is possible to
train the framework in a semi-supervised fashion with abundant unlabeled data
from the target domain. This study shows that the proposed approach creates a
powerful framework for SER, achieving superior performance than fully
supervised single-task learning (STL) and MTL baselines. The approach is
implemented with several acoustic features, showing that ladder networks
generalize significantly better in cross-corpus settings. Compared to the STL
baselines, the proposed approach achieves relative gains in concordance
correlation coefficient (CCC) between 3.0% and 3.5% for within corpus
evaluations, and between 16.1% and 74.1% for cross corpus evaluations,
highlighting the power of the architecture
Contextual Media Retrieval Using Natural Language Queries
The widespread integration of cameras in hand-held and head-worn devices as
well as the ability to share content online enables a large and diverse visual
capture of the world that millions of users build up collectively every day. We
envision these images as well as associated meta information, such as GPS
coordinates and timestamps, to form a collective visual memory that can be
queried while automatically taking the ever-changing context of mobile users
into account. As a first step towards this vision, in this work we present
Xplore-M-Ego: a novel media retrieval system that allows users to query a
dynamic database of images and videos using spatio-temporal natural language
queries. We evaluate our system using a new dataset of real user queries as
well as through a usability study. One key finding is that there is a
considerable amount of inter-user variability, for example in the resolution of
spatial relations in natural language utterances. We show that our retrieval
system can cope with this variability using personalisation through an online
learning-based retrieval formulation.Comment: 8 pages, 9 figures, 1 tabl
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