21,298 research outputs found
Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot
Mobile manipulation tasks are one of the key challenges in the field of
search and rescue (SAR) robotics requiring robots with flexible locomotion and
manipulation abilities. Since the tasks are mostly unknown in advance, the
robot has to adapt to a wide variety of terrains and workspaces during a
mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and
an anthropomorphic upper body to carry out complex tasks in environments too
dangerous for humans. Due to its high number of degrees of freedom, controlling
the robot with direct teleoperation approaches is challenging and exhausting.
Supervised autonomy approaches are promising to increase quality and speed of
control while keeping the flexibility to solve unknown tasks. We developed a
set of operator assistance functionalities with different levels of autonomy to
control the robot for challenging locomotion and manipulation tasks. The
integrated system was evaluated in disaster response scenarios and showed
promising performance.Comment: In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Madrid, Spain, October 201
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ļ¬ndings
in cognitive psychology, our model is composed of layers representing maps at diļ¬erent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
A Dataset for Movie Description
Descriptive video service (DVS) provides linguistic descriptions of movies
and allows visually impaired people to follow a movie along with their peers.
Such descriptions are by design mainly visual and thus naturally form an
interesting data source for computer vision and computational linguistics. In
this work we propose a novel dataset which contains transcribed DVS, which is
temporally aligned to full length HD movies. In addition we also collected the
aligned movie scripts which have been used in prior work and compare the two
different sources of descriptions. In total the Movie Description dataset
contains a parallel corpus of over 54,000 sentences and video snippets from 72
HD movies. We characterize the dataset by benchmarking different approaches for
generating video descriptions. Comparing DVS to scripts, we find that DVS is
far more visual and describes precisely what is shown rather than what should
happen according to the scripts created prior to movie production
Movie Description
Audio Description (AD) provides linguistic descriptions of movies and allows
visually impaired people to follow a movie along with their peers. Such
descriptions are by design mainly visual and thus naturally form an interesting
data source for computer vision and computational linguistics. In this work we
propose a novel dataset which contains transcribed ADs, which are temporally
aligned to full length movies. In addition we also collected and aligned movie
scripts used in prior work and compare the two sources of descriptions. In
total the Large Scale Movie Description Challenge (LSMDC) contains a parallel
corpus of 118,114 sentences and video clips from 202 movies. First we
characterize the dataset by benchmarking different approaches for generating
video descriptions. Comparing ADs to scripts, we find that ADs are indeed more
visual and describe precisely what is shown rather than what should happen
according to the scripts created prior to movie production. Furthermore, we
present and compare the results of several teams who participated in a
challenge organized in the context of the workshop "Describing and
Understanding Video & The Large Scale Movie Description Challenge (LSMDC)", at
ICCV 2015
Improving Statistical Language Model Performance with Automatically Generated Word Hierarchies
An automatic word classification system has been designed which processes
word unigram and bigram frequency statistics extracted from a corpus of natural
language utterances. The system implements a binary top-down form of word
clustering which employs an average class mutual information metric. Resulting
classifications are hierarchical, allowing variable class granularity. Words
are represented as structural tags --- unique -bit numbers the most
significant bit-patterns of which incorporate class information. Access to a
structural tag immediately provides access to all classification levels for the
corresponding word. The classification system has successfully revealed some of
the structure of English, from the phonemic to the semantic level. The system
has been compared --- directly and indirectly --- with other recent word
classification systems. Class based interpolated language models have been
constructed to exploit the extra information supplied by the classifications
and some experiments have shown that the new models improve model performance.Comment: 17 Page Paper. Self-extracting PostScript Fil
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