Understanding of Object Manipulation Actions Using Human Multi-Modal Sensory Data

Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can recognize such actions when humans perform them during human-robot collaboration tasks. The multi-modal data in this study consists of videos, hand motion data, applied forces as represented by the pressure patterns on the hand, and measurements of the bending of the fingers, collected as human subjects performed manipulation actions. We investigate two different approaches. In the first one, we show that multi-modal signal (motion, finger bending and hand pressure) generated by the action can be decomposed into a set of primitives that can be seen as its building blocks. These primitives are used to define 24 multi-modal primitive features. The primitive features can in turn be used as an abstract representation of the multi-modal signal and employed for action recognition. In the latter approach, the visual features are extracted from the data using a pre-trained image classification deep convolutional neural network. The visual features are subsequently used to train the classifier. We also investigate whether adding data from other modalities produces a statistically significant improvement in the classifier performance. We show that both approaches produce a comparable performance. This implies that image-based methods can successfully recognize human actions during human-robot collaboration. On the other hand, in order to provide training data for the robot so it can learn how to perform object manipulation actions, multi-modal data provides a better alternative

Calipso: Physics-based Image and Video Editing through CAD Model Proxies

We present Calipso, an interactive method for editing images and videos in a physically-coherent manner. Our main idea is to realize physics-based manipulations by running a full physics simulation on proxy geometries given by non-rigidly aligned CAD models. Running these simulations allows us to apply new, unseen forces to move or deform selected objects, change physical parameters such as mass or elasticity, or even add entire new objects that interact with the rest of the underlying scene. In Calipso, the user makes edits directly in 3D; these edits are processed by the simulation and then transfered to the target 2D content using shape-to-image correspondences in a photo-realistic rendering process. To align the CAD models, we introduce an efficient CAD-to-image alignment procedure that jointly minimizes for rigid and non-rigid alignment while preserving the high-level structure of the input shape. Moreover, the user can choose to exploit image flow to estimate scene motion, producing coherent physical behavior with ambient dynamics. We demonstrate Calipso's physics-based editing on a wide range of examples producing myriad physical behavior while preserving geometric and visual consistency.Comment: 11 page

Time-Contrastive Networks: Self-Supervised Learning from Video

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings: imitating object interactions from videos of humans, and imitating human poses. Imitation of human behavior requires a viewpoint-invariant representation that captures the relationships between end-effectors (hands or robot grippers) and the environment, object attributes, and body pose. We train our representations using a metric learning loss, where multiple simultaneous viewpoints of the same observation are attracted in the embedding space, while being repelled from temporal neighbors which are often visually similar but functionally different. In other words, the model simultaneously learns to recognize what is common between different-looking images, and what is different between similar-looking images. This signal causes our model to discover attributes that do not change across viewpoint, but do change across time, while ignoring nuisance variables such as occlusions, motion blur, lighting and background. We demonstrate that this representation can be used by a robot to directly mimic human poses without an explicit correspondence, and that it can be used as a reward function within a reinforcement learning algorithm. While representations are learned from an unlabeled collection of task-related videos, robot behaviors such as pouring are learned by watching a single 3rd-person demonstration by a human. Reward functions obtained by following the human demonstrations under the learned representation enable efficient reinforcement learning that is practical for real-world robotic systems. Video results, open-source code and dataset are available at https://sermanet.github.io/imitat

A perceptual comparison of empirical and predictive region-of-interest video

When viewing multimedia presentations, a user only attends to a relatively small part of the video display at any one point in time. By shifting allocation of bandwidth from peripheral areas to those locations where a user’s gaze is more likely to rest, attentive displays can be produced. Attentive displays aim to reduce resource requirements while minimizing negative user perception—understood in this paper as not only a user’s ability to assimilate and understand information but also his/her subjective satisfaction with the video content. This paper introduces and discusses a perceptual comparison between two region-of-interest display (RoID) adaptation techniques. A RoID is an attentive display where bandwidth has been preallocated around measured or highly probable areas of user gaze. In this paper, video content was manipulated using two sources of data: empirical measured data (captured using eye-tracking technology) and predictive data (calculated from the physical characteristics of the video data). Results show that display adaptation causes significant variation in users’ understanding of specific multimedia content. Interestingly, RoID adaptation and the type of video being presented both affect user perception of video quality. Moreover, the use of frame rates less than 15 frames per second, for any video adaptation technique, caused a significant reduction in user perceived quality, suggesting that although users are aware of video quality reduction, it does impact level of information assimilation and understanding. Results also highlight that user level of enjoyment is significantly affected by the type of video yet is not as affected by the quality or type of video adaptation—an interesting implication in the field of entertainment

Exploring remote photoplethysmography signals for deepfake detection in facial videos

Abstract. With the advent of deep learning-based facial forgeries, also called "deepfakes", the feld of accurately detecting forged videos has become a quickly growing area of research. For this endeavor, remote photoplethysmography, the process of extracting biological signals such as the blood volume pulse and heart rate from facial videos, offers an interesting avenue for detecting fake videos that appear utterly authentic to the human eye. This thesis presents an end-to-end system for deepfake video classifcation using remote photoplethysmography. The minuscule facial pixel colour changes are used to extract the rPPG signal, from which various features are extracted and used to train an XGBoost classifer. The classifer is then tested using various colour-to-blood volume pulse methods (OMIT, POS, LGI and CHROM) and three feature extraction window lengths of two, four and eight seconds. The classifer was found effective at detecting deepfake videos with an accuracy of 85 %, with minimal performance difference found between the window lengths. The GREEN channel signal was found to be important for this classifcationEtäfotoplethysmografian hyödyntäminen syväväärennösten tunnistamiseen. Tiivistelmä. Syväväärennösten eli syväoppimiseen perustuvien kasvoväärennöksien yleistyessä väärennösten tarkasta tunnistamisesta koneellisesti on tullut nopeasti kasvava tutkimusalue. Etäfotoplethysmografa (rPPG) eli biologisten signaalien kuten veritilavuuspulssin tai sykkeen mittaaminen videokuvasta tarjoaa kiinnostavan keinon tunnistaa väärennöksiä, jotka vaikuttavat täysin aidoilta ihmissilmälle. Tässä diplomityössä esitellään etäfotoplethysmografaan perustuva syväväärennösten tunnistusmetodi. Kasvojen minimaalisia värimuutoksia hyväksikäyttämällä mitataan fotoplethysmografasignaali, josta lasketuilla ominaisuuksilla koulutetaan XGBoost-luokittelija. Luokittelijaa testataan usealla eri värisignaalista veritilavuussignaaliksi muuntavalla metodilla sekä kolmella eri ominaisuuksien ikkunapituudella. Luokittelija pystyy tunnistamaan väärennetyn videon aidosta 85 % tarkkuudella. Eri ikkunapituuksien välillä oli minimaalisia eroja, ja vihreän värin signaalin havaittiin olevan luokittelun suorituskyvyn kannalta merkittävä