8,418 research outputs found
Discovery and recognition of motion primitives in human activities
We present a novel framework for the automatic discovery and recognition of
motion primitives in videos of human activities. Given the 3D pose of a human
in a video, human motion primitives are discovered by optimizing the `motion
flux', a quantity which captures the motion variation of a group of skeletal
joints. A normalization of the primitives is proposed in order to make them
invariant with respect to a subject anatomical variations and data sampling
rate. The discovered primitives are unknown and unlabeled and are
unsupervisedly collected into classes via a hierarchical non-parametric Bayes
mixture model. Once classes are determined and labeled they are further
analyzed for establishing models for recognizing discovered primitives. Each
primitive model is defined by a set of learned parameters.
Given new video data and given the estimated pose of the subject appearing on
the video, the motion is segmented into primitives, which are recognized with a
probability given according to the parameters of the learned models.
Using our framework we build a publicly available dataset of human motion
primitives, using sequences taken from well-known motion capture datasets. We
expect that our framework, by providing an objective way for discovering and
categorizing human motion, will be a useful tool in numerous research fields
including video analysis, human inspired motion generation, learning by
demonstration, intuitive human-robot interaction, and human behavior analysis
SCAN: Learning Hierarchical Compositional Visual Concepts
The seemingly infinite diversity of the natural world arises from a
relatively small set of coherent rules, such as the laws of physics or
chemistry. We conjecture that these rules give rise to regularities that can be
discovered through primarily unsupervised experiences and represented as
abstract concepts. If such representations are compositional and hierarchical,
they can be recombined into an exponentially large set of new concepts. This
paper describes SCAN (Symbol-Concept Association Network), a new framework for
learning such abstractions in the visual domain. SCAN learns concepts through
fast symbol association, grounding them in disentangled visual primitives that
are discovered in an unsupervised manner. Unlike state of the art multimodal
generative model baselines, our approach requires very few pairings between
symbols and images and makes no assumptions about the form of symbol
representations. Once trained, SCAN is capable of multimodal bi-directional
inference, generating a diverse set of image samples from symbolic descriptions
and vice versa. It also allows for traversal and manipulation of the implicit
hierarchy of visual concepts through symbolic instructions and learnt logical
recombination operations. Such manipulations enable SCAN to break away from its
training data distribution and imagine novel visual concepts through
symbolically instructed recombination of previously learnt concepts
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task
Programming (NTP), which bridges the idea of few-shot learning from
demonstration and neural program induction. NTP takes as input a task
specification (e.g., video demonstration of a task) and recursively decomposes
it into finer sub-task specifications. These specifications are fed to a
hierarchical neural program, where bottom-level programs are callable
subroutines that interact with the environment. We validate our method in three
robot manipulation tasks. NTP achieves strong generalization across sequential
tasks that exhibit hierarchal and compositional structures. The experimental
results show that NTP learns to generalize well to- wards unseen tasks with
increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201
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