3,514 research outputs found
Grounding semantics in robots for Visual Question Answering
In this thesis I describe an operational implementation of an object detection and description system that incorporates in an end-to-end Visual Question Answering system and evaluated it on two visual question answering datasets for compositional language and elementary visual reasoning
Towards responsive Sensitive Artificial Listeners
This paper describes work in the recently started project SEMAINE, which aims to build a set of Sensitive Artificial Listeners – conversational agents designed to sustain an interaction with a human user despite limited verbal skills, through robust recognition and generation of non-verbal behaviour in real-time, both when the agent is speaking and listening. We report on data collection and on the design of a system architecture in view of real-time responsiveness
Speaker-independent emotion recognition exploiting a psychologically-inspired binary cascade classification schema
In this paper, a psychologically-inspired binary cascade classification schema is proposed for speech emotion recognition. Performance is enhanced because commonly confused pairs of emotions are distinguishable from one another. Extracted features are related to statistics of pitch, formants, and energy contours, as well as spectrum, cepstrum, perceptual and temporal features, autocorrelation, MPEG-7 descriptors, Fujisakis model parameters, voice quality, jitter, and shimmer. Selected features are fed as input to K nearest neighborhood classifier and to support vector machines. Two kernels are tested for the latter: Linear and Gaussian radial basis function. The recently proposed speaker-independent experimental protocol is tested on the Berlin emotional speech database for each gender separately. The best emotion recognition accuracy, achieved by support vector machines with linear kernel, equals 87.7%, outperforming state-of-the-art approaches. Statistical analysis is first carried out with respect to the classifiers error rates and then to evaluate the information expressed by the classifiers confusion matrices. © Springer Science+Business Media, LLC 2011
Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration
Turn-taking is essential to the structure of human teamwork. Humans are
typically aware of team members' intention to keep or relinquish their turn
before a turn switch, where the responsibility of working on a shared task is
shifted. Future co-robots are also expected to provide such competence. To that
end, this paper proposes the Cognitive Turn-taking Model (CTTM), which
leverages cognitive models (i.e., Spiking Neural Network) to achieve early
turn-taking prediction. The CTTM framework can process multimodal human
communication cues (both implicit and explicit) and predict human turn-taking
intentions in an early stage. The proposed framework is tested on a simulated
surgical procedure, where a robotic scrub nurse predicts the surgeon's
turn-taking intention. It was found that the proposed CTTM framework
outperforms the state-of-the-art turn-taking prediction algorithms by a large
margin. It also outperforms humans when presented with partial observations of
communication cues (i.e., less than 40% of full actions). This early prediction
capability enables robots to initiate turn-taking actions at an early stage,
which facilitates collaboration and increases overall efficiency.Comment: Submitted to IEEE International Conference on Robotics and Automation
(ICRA) 201
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