23,487 research outputs found

    Substructure and Boundary Modeling for Continuous Action Recognition

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    This paper introduces a probabilistic graphical model for continuous action recognition with two novel components: substructure transition model and discriminative boundary model. The first component encodes the sparse and global temporal transition prior between action primitives in state-space model to handle the large spatial-temporal variations within an action class. The second component enforces the action duration constraint in a discriminative way to locate the transition boundaries between actions more accurately. The two components are integrated into a unified graphical structure to enable effective training and inference. Our comprehensive experimental results on both public and in-house datasets show that, with the capability to incorporate additional information that had not been explicitly or efficiently modeled by previous methods, our proposed algorithm achieved significantly improved performance for continuous action recognition.Comment: Detailed version of the CVPR 2012 paper. 15 pages, 6 figure

    Probabilistic movement modeling for intention inference in human-robot interaction.

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    Intention inference can be an essential step toward efficient humanrobot interaction. For this purpose, we propose the Intention-Driven Dynamics Model (IDDM) to probabilistically model the generative process of movements that are directed by the intention. The IDDM allows to infer the intention from observed movements using Bayes ’ theorem. The IDDM simultaneously finds a latent state representation of noisy and highdimensional observations, and models the intention-driven dynamics in the latent states. As most robotics applications are subject to real-time constraints, we develop an efficient online algorithm that allows for real-time intention inference. Two human-robot interaction scenarios, i.e., target prediction for robot table tennis and action recognition for interactive humanoid robots, are used to evaluate the performance of our inference algorithm. In both intention inference tasks, the proposed algorithm achieves substantial improvements over support vector machines and Gaussian processes.

    Consensus Message Passing for Layered Graphical Models

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    Generative models provide a powerful framework for probabilistic reasoning. However, in many domains their use has been hampered by the practical difficulties of inference. This is particularly the case in computer vision, where models of the imaging process tend to be large, loopy and layered. For this reason bottom-up conditional models have traditionally dominated in such domains. We find that widely-used, general-purpose message passing inference algorithms such as Expectation Propagation (EP) and Variational Message Passing (VMP) fail on the simplest of vision models. With these models in mind, we introduce a modification to message passing that learns to exploit their layered structure by passing 'consensus' messages that guide inference towards good solutions. Experiments on a variety of problems show that the proposed technique leads to significantly more accurate inference results, not only when compared to standard EP and VMP, but also when compared to competitive bottom-up conditional models.Comment: Appearing in Proceedings of the 18th International Conference on Artificial Intelligence and Statistics (AISTATS) 201

    Discriminative conditional restricted Boltzmann machine for discrete choice and latent variable modelling

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    Conventional methods of estimating latent behaviour generally use attitudinal questions which are subjective and these survey questions may not always be available. We hypothesize that an alternative approach can be used for latent variable estimation through an undirected graphical models. For instance, non-parametric artificial neural networks. In this study, we explore the use of generative non-parametric modelling methods to estimate latent variables from prior choice distribution without the conventional use of measurement indicators. A restricted Boltzmann machine is used to represent latent behaviour factors by analyzing the relationship information between the observed choices and explanatory variables. The algorithm is adapted for latent behaviour analysis in discrete choice scenario and we use a graphical approach to evaluate and understand the semantic meaning from estimated parameter vector values. We illustrate our methodology on a financial instrument choice dataset and perform statistical analysis on parameter sensitivity and stability. Our findings show that through non-parametric statistical tests, we can extract useful latent information on the behaviour of latent constructs through machine learning methods and present strong and significant influence on the choice process. Furthermore, our modelling framework shows robustness in input variability through sampling and validation
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