Modeling Temporal Dynamics and Spatial Configurations of Actions Using Two-Stream Recurrent Neural Networks

Recently, skeleton based action recognition gains more popularity due to cost-effective depth sensors coupled with real-time skeleton estimation algorithms. Traditional approaches based on handcrafted features are limited to represent the complexity of motion patterns. Recent methods that use Recurrent Neural Networks (RNN) to handle raw skeletons only focus on the contextual dependency in the temporal domain and neglect the spatial configurations of articulated skeletons. In this paper, we propose a novel two-stream RNN architecture to model both temporal dynamics and spatial configurations for skeleton based action recognition. We explore two different structures for the temporal stream: stacked RNN and hierarchical RNN. Hierarchical RNN is designed according to human body kinematics. We also propose two effective methods to model the spatial structure by converting the spatial graph into a sequence of joints. To improve generalization of our model, we further exploit 3D transformation based data augmentation techniques including rotation and scaling transformation to transform the 3D coordinates of skeletons during training. Experiments on 3D action recognition benchmark datasets show that our method brings a considerable improvement for a variety of actions, i.e., generic actions, interaction activities and gestures.Comment: Accepted to IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 201

Online Visual Robot Tracking and Identification using Deep LSTM Networks

Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online visionbased detection, tracking and identification of robots with a known and identical appearance. Our method runs in realtime on the limited hardware of the observer robot. Unlike previous works addressing robot tracking and identification, we use a data-driven approach based on recurrent neural networks to learn relations between sequential inputs and outputs. We formulate the data association problem as multiple classification problems. A deep LSTM network was trained on a simulated dataset and fine-tuned on small set of real data. Experiments on two challenging datasets, one synthetic and one real, which include long-term occlusions, show promising results.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. IROS RoboCup Best Paper Awar

Your Smart Home Can't Keep a Secret: Towards Automated Fingerprinting of IoT Traffic with Neural Networks

The IoT (Internet of Things) technology has been widely adopted in recent years and has profoundly changed the people's daily lives. However, in the meantime, such a fast-growing technology has also introduced new privacy issues, which need to be better understood and measured. In this work, we look into how private information can be leaked from network traffic generated in the smart home network. Although researchers have proposed techniques to infer IoT device types or user behaviors under clean experiment setup, the effectiveness of such approaches become questionable in the complex but realistic network environment, where common techniques like Network Address and Port Translation (NAPT) and Virtual Private Network (VPN) are enabled. Traffic analysis using traditional methods (e.g., through classical machine-learning models) is much less effective under those settings, as the features picked manually are not distinctive any more. In this work, we propose a traffic analysis framework based on sequence-learning techniques like LSTM and leveraged the temporal relations between packets for the attack of device identification. We evaluated it under different environment settings (e.g., pure-IoT and noisy environment with multiple non-IoT devices). The results showed our framework was able to differentiate device types with a high accuracy. This result suggests IoT network communications pose prominent challenges to users' privacy, even when they are protected by encryption and morphed by the network gateway. As such, new privacy protection methods on IoT traffic need to be developed towards mitigating this new issue