Robust recognition and segmentation of human actions using HMMs with missing observations

This paper describes the integration of missing observation data with hidden Markov models to create a framework that is able to segment and classify individual actions from a stream of human motion using an incomplete 3D human pose estimation. Based on this framework, a model is trained to automatically segment and classify an activity sequence into its constituent subactions during inferencing. This is achieved by introducing action labels into the observation vector and setting these labels as missing data during inferencing, thus forcing the system to infer the probability of each action label. Additionally, missing data provides recognition-level support for occlusions and imperfect silhouette segmentation, permitting the use of a fast (real-time) pose estimation that delegates the burden of handling undetected limbs onto the action recognition system. Findings show that the use of missing data to segment activities is an accurate and elegant approach. Furthermore, action recognition can be accurate even when almost half of the pose feature data is missing due to occlusions, since not all of the pose data is important all of the time

Discriminative Segmental Cascades for Feature-Rich Phone Recognition

Discriminative segmental models, such as segmental conditional random fields (SCRFs) and segmental structured support vector machines (SSVMs), have had success in speech recognition via both lattice rescoring and first-pass decoding. However, such models suffer from slow decoding, hampering the use of computationally expensive features, such as segment neural networks or other high-order features. A typical solution is to use approximate decoding, either by beam pruning in a single pass or by beam pruning to generate a lattice followed by a second pass. In this work, we study discriminative segmental models trained with a hinge loss (i.e., segmental structured SVMs). We show that beam search is not suitable for learning rescoring models in this approach, though it gives good approximate decoding performance when the model is already well-trained. Instead, we consider an approach inspired by structured prediction cascades, which use max-marginal pruning to generate lattices. We obtain a high-accuracy phonetic recognition system with several expensive feature types: a segment neural network, a second-order language model, and second-order phone boundary features

Multitask Learning with CTC and Segmental CRF for Speech Recognition

Segmental conditional random fields (SCRFs) and connectionist temporal classification (CTC) are two sequence labeling methods used for end-to-end training of speech recognition models. Both models define a transcription probability by marginalizing decisions about latent segmentation alternatives to derive a sequence probability: the former uses a globally normalized joint model of segment labels and durations, and the latter classifies each frame as either an output symbol or a "continuation" of the previous label. In this paper, we train a recognition model by optimizing an interpolation between the SCRF and CTC losses, where the same recurrent neural network (RNN) encoder is used for feature extraction for both outputs. We find that this multitask objective improves recognition accuracy when decoding with either the SCRF or CTC models. Additionally, we show that CTC can also be used to pretrain the RNN encoder, which improves the convergence rate when learning the joint model.Comment: 5 pages, 2 figures, camera ready version at Interspeech 201

Symbol Emergence in Robotics: A Survey

Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially self-organized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-of-art research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory--motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.Comment: submitted to Advanced Robotic