Cognitive Reasoning for Compliant Robot Manipulation

Physically compliant contact is a major element for many tasks in everyday environments. A universal service robot that is utilized to collect leaves in a park, polish a workpiece, or clean solar panels requires the cognition and manipulation capabilities to facilitate such compliant interaction. Evolution equipped humans with advanced mental abilities to envision physical contact situations and their resulting outcome, dexterous motor skills to perform the actions accordingly, as well as a sense of quality to rate the outcome of the task. In order to achieve human-like performance, a robot must provide the necessary methods to represent, plan, execute, and interpret compliant manipulation tasks. This dissertation covers those four steps of reasoning in the concept of intelligent physical compliance. The contributions advance the capabilities of service robots by combining artificial intelligence reasoning methods and control strategies for compliant manipulation. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. Novel representations are derived to describe the properties of physical interaction. Special attention is given to wiping tasks which are predominant in everyday environments. It is investigated how symbolic task descriptions can be translated into meaningful robot commands. A particle distribution model is used to plan goal-oriented wiping actions and predict the quality according to the anticipated result. The planned tool motions are converted into the joint space of the humanoid robot Rollin' Justin to perform the tasks in the real world. In order to execute the motions in a physically compliant fashion, a hierarchical whole-body impedance controller is integrated into the framework. The controller is automatically parameterized with respect to the requirements of the particular task. Haptic feedback is utilized to infer contact and interpret the performance semantically. Finally, the robot is able to compensate for possible disturbances as it plans additional recovery motions while effectively closing the cognitive control loop. Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment. This application demonstrates the far-reaching impact of the proposed approach and the associated opportunities that emerge with the availability of cognition-enabled service robots

Accessing spoken interaction through dialogue processing [online]

Zusammenfassung Unser Leben, unsere Leistungen und unsere Umgebung, alles wird derzeit durch Schriftsprache dokumentiert. Die rasante Fortentwicklung der technischen Möglichkeiten Audio, Bilder und Video aufzunehmen, abzuspeichern und wiederzugeben kann genutzt werden um die schriftliche Dokumentation von menschlicher Kommunikation, zum Beispiel Meetings, zu unterstützen, zu ergänzen oder gar zu ersetzen. Diese neuen Technologien können uns in die Lage versetzen Information aufzunehmen, die anderweitig verloren gehen, die Kosten der Dokumentation zu senken und hochwertige Dokumente mit audiovisuellem Material anzureichern. Die Indizierung solcher Aufnahmen stellt die Kerntechnologie dar um dieses Potential auszuschöpfen. Diese Arbeit stellt effektive Alternativen zu schlüsselwortbasierten Indizes vor, die Suchraumeinschränkungen bewirken und teilweise mit einfachen Mitteln zu berechnen sind. Die Indizierung von Sprachdokumenten kann auf verschiedenen Ebenen erfolgen: Ein Dokument gehört stilistisch einer bestimmten Datenbasis an, welche durch sehr einfache Merkmale bei hoher Genauigkeit automatisch bestimmt werden kann. Durch diese Art von Klassifikation kann eine Reduktion des Suchraumes um einen Faktor der Größenordnung 4­10 erfolgen. Die Anwendung von thematischen Merkmalen zur Textklassifikation bei einer Nachrichtendatenbank resultiert in einer Reduktion um einen Faktor 18. Da Sprachdokumente sehr lang sein können müssen sie in thematische Segmente unterteilt werden. Ein neuer probabilistischer Ansatz sowie neue Merkmale (Sprecherinitia­ tive und Stil) liefern vergleichbare oder bessere Resultate als traditionelle schlüsselwortbasierte Ansätze. Diese thematische Segmente können durch die vorherrschende Aktivität charakterisiert werden (erzählen, diskutieren, planen, ...), die durch ein neuronales Netz detektiert werden kann. Die Detektionsraten sind allerdings begrenzt da auch Menschen diese Aktivitäten nur ungenau bestimmen. Eine maximale Reduktion des Suchraumes um den Faktor 6 ist bei den verwendeten Daten theoretisch möglich. Eine thematische Klassifikation dieser Segmente wurde ebenfalls auf einer Datenbasis durchgeführt, die Detektionsraten für diesen Index sind jedoch gering. Auf der Ebene der einzelnen Äußerungen können Dialogakte wie Aussagen, Fragen, Rückmeldungen (aha, ach ja, echt?, ...) usw. mit einem diskriminativ trainierten Hidden Markov Model erkannt werden. Dieses Verfahren kann um die Erkennung von kurzen Folgen wie Frage/Antwort­Spielen erweitert werden (Dialogspiele). Dialogakte und ­spiele können eingesetzt werden um Klassifikatoren für globale Sprechstile zu bauen. Ebenso könnte ein Benutzer sich an eine bestimmte Dialogaktsequenz erinnern und versuchen, diese in einer grafischen Repräsentation wiederzufinden. In einer Studie mit sehr pessimistischen Annahmen konnten Benutzer eines aus vier ähnlichen und gleichwahrscheinlichen Gesprächen mit einer Genauigkeit von ~ 43% durch eine graphische Repräsentation von Aktivität bestimmt. Dialogakte könnte in diesem Szenario ebenso nützlich sein, die Benutzerstudie konnte aufgrund der geringen Datenmenge darüber keinen endgültigen Aufschluß geben. Die Studie konnte allerdings für detailierte Basismerkmale wie Formalität und Sprecheridentität keinen Effekt zeigen. Abstract Written language is one of our primary means for documenting our lives, achievements, and environment. Our capabilities to record, store and retrieve audio, still pictures, and video are undergoing a revolution and may support, supplement or even replace written documentation. This technology enables us to record information that would otherwise be lost, lower the cost of documentation and enhance high­quality documents with original audiovisual material. The indexing of the audio material is the key technology to realize those benefits. This work presents effective alternatives to keyword based indices which restrict the search space and may in part be calculated with very limited resources. Indexing speech documents can be done at a various levels: Stylistically a document belongs to a certain database which can be determined automatically with high accuracy using very simple features. The resulting factor in search space reduction is in the order of 4­10 while topic classification yielded a factor of 18 in a news domain. Since documents can be very long they need to be segmented into topical regions. A new probabilistic segmentation framework as well as new features (speaker initiative and style) prove to be very effective compared to traditional keyword based methods. At the topical segment level activities (storytelling, discussing, planning, ...) can be detected using a machine learning approach with limited accuracy; however even human annotators do not annotate them very reliably. A maximum search space reduction factor of 6 is theoretically possible on the databases used. A topical classification of these regions has been attempted on one database, the detection accuracy for that index, however, was very low. At the utterance level dialogue acts such as statements, questions, backchannels (aha, yeah, ...), etc. are being recognized using a novel discriminatively trained HMM procedure. The procedure can be extended to recognize short sequences such as question/answer pairs, so called dialogue games. Dialog acts and games are useful for building classifiers for speaking style. Similarily a user may remember a certain dialog act sequence and may search for it in a graphical representation. In a study with very pessimistic assumptions users are able to pick one out of four similar and equiprobable meetings correctly with an accuracy ~ 43% using graphical activity information. Dialogue acts may be useful in this situation as well but the sample size did not allow to draw final conclusions. However the user study fails to show any effect for detailed basic features such as formality or speaker identity

Adaptive hypertext and hypermedia : workshop : proceedings, 3rd, Sonthofen, Germany, July 14, 2001 and Aarhus, Denmark, August 15, 2001

This paper presents two empirical usability studies based on techniques from Human-Computer Interaction (HeI) and software engineering, which were used to elicit requirements for the design of a hypertext generation system. Here we will discuss the findings of these studies, which were used to motivate the choice of adaptivity techniques. The results showed dependencies between different ways to adapt the explanation content and the document length and formatting. Therefore, the system's architecture had to be modified to cope with this requirement. In addition, the system had to be made adaptable, in addition to being adaptive, in order to satisfy the elicited users' preferences

Adaptive hypertext and hypermedia : workshop : proceedings, 3rd, Sonthofen, Germany, July 14, 2001 and Aarhus, Denmark, August 15, 2001

This paper presents two empirical usability studies based on techniques from Human-Computer Interaction (HeI) and software engineering, which were used to elicit requirements for the design of a hypertext generation system. Here we will discuss the findings of these studies, which were used to motivate the choice of adaptivity techniques. The results showed dependencies between different ways to adapt the explanation content and the document length and formatting. Therefore, the system's architecture had to be modified to cope with this requirement. In addition, the system had to be made adaptable, in addition to being adaptive, in order to satisfy the elicited users' preferences

Video summarisation: A conceptual framework and survey of the state of the art

This is the post-print (final draft post-refereeing) version of the article. Copyright @ 2007 Elsevier Inc.Video summaries provide condensed and succinct representations of the content of a video stream through a combination of still images, video segments, graphical representations and textual descriptors. This paper presents a conceptual framework for video summarisation derived from the research literature and used as a means for surveying the research literature. The framework distinguishes between video summarisation techniques (the methods used to process content from a source video stream to achieve a summarisation of that stream) and video summaries (outputs of video summarisation techniques). Video summarisation techniques are considered within three broad categories: internal (analyse information sourced directly from the video stream), external (analyse information not sourced directly from the video stream) and hybrid (analyse a combination of internal and external information). Video summaries are considered as a function of the type of content they are derived from (object, event, perception or feature based) and the functionality offered to the user for their consumption (interactive or static, personalised or generic). It is argued that video summarisation would benefit from greater incorporation of external information, particularly user based information that is unobtrusively sourced, in order to overcome longstanding challenges such as the semantic gap and providing video summaries that have greater relevance to individual users

User-centred video abstraction

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University LondonThe rapid growth of digital video content in recent years has imposed the need for the development of technologies with the capability to produce condensed but semantically rich versions of the input video stream in an effective manner. Consequently, the topic of Video Summarisation is becoming increasingly popular in multimedia community and numerous video abstraction approaches have been proposed accordingly. These recommended techniques can be divided into two major categories of automatic and semi-automatic in accordance with the required level of human intervention in summarisation process. The fully-automated methods mainly adopt the low-level visual, aural and textual features alongside the mathematical and statistical algorithms in furtherance to extract the most significant segments of original video. However, the effectiveness of this type of techniques is restricted by a number of factors such as domain-dependency, computational expenses and the inability to understand the semantics of videos from low-level features. The second category of techniques however, attempts to alleviate the quality of summaries by involving humans in the abstraction process to bridge the semantic gap. Nonetheless, a single user’s subjectivity and other external contributing factors such as distraction will potentially deteriorate the performance of this group of approaches. Accordingly, in this thesis we have focused on the development of three user-centred effective video summarisation techniques that could be applied to different video categories and generate satisfactory results. According to our first proposed approach, a novel mechanism for a user-centred video summarisation has been presented for the scenarios in which multiple actors are employed in the video summarisation process in order to minimise the negative effects of sole user adoption. Based on our recommended algorithm, the video frames were initially scored by a group of video annotators ‘on the fly’. This was followed by averaging these assigned scores in order to generate a singular saliency score for each video frame and, finally, the highest scored video frames alongside the corresponding audio and textual contents were extracted to be included into the final summary. The effectiveness of our approach has been assessed by comparing the video summaries generated based on our approach against the results obtained from three existing automatic summarisation tools that adopt different modalities for abstraction purposes. The experimental results indicated that our proposed method is capable of delivering remarkable outcomes in terms of Overall Satisfaction and Precision with an acceptable Recall rate, indicating the usefulness of involving user input in the video summarisation process. In an attempt to provide a better user experience, we have proposed our personalised video summarisation method with an ability to customise the generated summaries in accordance with the viewers’ preferences. Accordingly, the end-user’s priority levels towards different video scenes were captured and utilised for updating the average scores previously assigned by the video annotators. Finally, our earlier proposed summarisation method was adopted to extract the most significant audio-visual content of the video. Experimental results indicated the capability of this approach to deliver superior outcomes compared with our previously proposed method and the three other automatic summarisation tools. Finally, we have attempted to reduce the required level of audience involvement for personalisation purposes by proposing a new method for producing personalised video summaries. Accordingly, SIFT visual features were adopted to identify the video scenes’ semantic categories. Fusing this retrieved data with pre-built users’ profiles, personalised video abstracts can be created. Experimental results showed the effectiveness of this method in delivering superior outcomes comparing to our previously recommended algorithm and the three other automatic summarisation techniques

Surveillance video summarization based on trajectory rarity measure

The dynamic video summarization of surveillance videos has several critical applications, mainly due to the wide availability of digital cameras in environments such as airports, train and bus stations, shopping centers, stadiums, buildings, schools, hospitals, roads, among others. This study presents an approach for the generation of dynamic summary on surveillance video domain based on human trajectories. It has an emphasis on trajectory descriptors in conjunction with the unsupervised clustering method. Our approach contribute to existing literature concerning the combination of methods and objectives. We hypothesize that the clustering of trajectories permits to identify rare trajectories base on their morphology. The clustering as an output provides numerous subsets of trajectories or clusters and the number of elements of a specific cluster is used to determine their rarity. Those subsets with few components are rare while the others that have a high number of elements are considered ordinary; therefore, the implications of our study show that is possible to use unsupervised clustering for automatic detection of rare trajectories based on their morphology and with this information segment videos. We experimented with different sets of trajectories segmenting the rare videos from our ground truth.Trabajo de investigació

Video Summarization Using Deep Neural Networks: A Survey

Video summarization technologies aim to create a concise and complete synopsis by selecting the most informative parts of the video content. Several approaches have been developed over the last couple of decades and the current state of the art is represented by methods that rely on modern deep neural network architectures. This work focuses on the recent advances in the area and provides a comprehensive survey of the existing deep-learning-based methods for generic video summarization. After presenting the motivation behind the development of technologies for video summarization, we formulate the video summarization task and discuss the main characteristics of a typical deep-learning-based analysis pipeline. Then, we suggest a taxonomy of the existing algorithms and provide a systematic review of the relevant literature that shows the evolution of the deep-learning-based video summarization technologies and leads to suggestions for future developments. We then report on protocols for the objective evaluation of video summarization algorithms and we compare the performance of several deep-learning-based approaches. Based on the outcomes of these comparisons, as well as some documented considerations about the suitability of evaluation protocols, we indicate potential future research directions.Comment: Journal paper; Under revie

Real-world Machine Learning Systems: A survey from a Data-Oriented Architecture Perspective

Machine Learning models are being deployed as parts of real-world systems with the upsurge of interest in artificial intelligence. The design, implementation, and maintenance of such systems are challenged by real-world environments that produce larger amounts of heterogeneous data and users requiring increasingly faster responses with efficient resource consumption. These requirements push prevalent software architectures to the limit when deploying ML-based systems. Data-oriented Architecture (DOA) is an emerging concept that equips systems better for integrating ML models. DOA extends current architectures to create data-driven, loosely coupled, decentralised, open systems. Even though papers on deployed ML-based systems do not mention DOA, their authors made design decisions that implicitly follow DOA. The reasons why, how, and the extent to which DOA is adopted in these systems are unclear. Implicit design decisions limit the practitioners' knowledge of DOA to design ML-based systems in the real world. This paper answers these questions by surveying real-world deployments of ML-based systems. The survey shows the design decisions of the systems and the requirements these satisfy. Based on the survey findings, we also formulate practical advice to facilitate the deployment of ML-based systems. Finally, we outline open challenges to deploying DOA-based systems that integrate ML models.Comment: Under revie