Probabilistic movement modeling for intention inference in human-robot interaction.

Intention inference can be an essential step toward efficient humanrobot interaction. For this purpose, we propose the Intention-Driven Dynamics Model (IDDM) to probabilistically model the generative process of movements that are directed by the intention. The IDDM allows to infer the intention from observed movements using Bayes ’ theorem. The IDDM simultaneously finds a latent state representation of noisy and highdimensional observations, and models the intention-driven dynamics in the latent states. As most robotics applications are subject to real-time constraints, we develop an efficient online algorithm that allows for real-time intention inference. Two human-robot interaction scenarios, i.e., target prediction for robot table tennis and action recognition for interactive humanoid robots, are used to evaluate the performance of our inference algorithm. In both intention inference tasks, the proposed algorithm achieves substantial improvements over support vector machines and Gaussian processes.

Location Dependent Dirichlet Processes

Dirichlet processes (DP) are widely applied in Bayesian nonparametric modeling. However, in their basic form they do not directly integrate dependency information among data arising from space and time. In this paper, we propose location dependent Dirichlet processes (LDDP) which incorporate nonparametric Gaussian processes in the DP modeling framework to model such dependencies. We develop the LDDP in the context of mixture modeling, and develop a mean field variational inference algorithm for this mixture model. The effectiveness of the proposed modeling framework is shown on an image segmentation task

A Tutorial on Bayesian Nonparametric Models

A key problem in statistical modeling is model selection, how to choose a model at an appropriate level of complexity. This problem appears in many settings, most prominently in choosing the number ofclusters in mixture models or the number of factors in factor analysis. In this tutorial we describe Bayesian nonparametric methods, a class of methods that side-steps this issue by allowing the data to determine the complexity of the model. This tutorial is a high-level introduction to Bayesian nonparametric methods and contains several examples of their application.Comment: 28 pages, 8 figure