1,044 research outputs found
Action Classification in Human Robot Interaction Cells in Manufacturing
Action recognition has become a prerequisite approach to fluent Human-Robot Interaction (HRI) due to a high degree of movement flexibility. With the improvements in machine learning algorithms, robots are gradually transitioning into more human-populated areas. However, HRI systems demand the need for robots to possess enough cognition. The action recognition algorithms require massive training datasets, structural information of objects in the environment, and less expensive models in terms of computational complexity. In addition, many such algorithms are trained on datasets derived from daily activities. The algorithms trained on non-industrial datasets may have an unfavorable impact on implementing models and validating actions in an industrial context. This study proposed a lightweight deep learning model for classifying low-level actions in an assembly setting. The model is based on optical flow feature elicitation and mobilenetV2-SSD action classification and is trained and assessed on an actual industrial activities’ dataset. The experimental outcomes show that the presented method is futuristic and does not require extensive preprocessing; therefore, it can be promising in terms of the feasibility of action recognition for mutual performance monitoring in real-world HRI applications. The test result shows 80% accuracy for low-level RGB action classes. The study’s primary objective is to generate experimental results that may be used as a reference for future HRI algorithms based on the InHard dataset
Anticipating Daily Intention using On-Wrist Motion Triggered Sensing
Anticipating human intention by observing one's actions has many
applications. For instance, picking up a cellphone, then a charger (actions)
implies that one wants to charge the cellphone (intention). By anticipating the
intention, an intelligent system can guide the user to the closest power
outlet. We propose an on-wrist motion triggered sensing system for anticipating
daily intentions, where the on-wrist sensors help us to persistently observe
one's actions. The core of the system is a novel Recurrent Neural Network (RNN)
and Policy Network (PN), where the RNN encodes visual and motion observation to
anticipate intention, and the PN parsimoniously triggers the process of visual
observation to reduce computation requirement. We jointly trained the whole
network using policy gradient and cross-entropy loss. To evaluate, we collect
the first daily "intention" dataset consisting of 2379 videos with 34
intentions and 164 unique action sequences. Our method achieves 92.68%, 90.85%,
97.56% accuracy on three users while processing only 29% of the visual
observation on average
Interactive Text2Pickup Network for Natural Language based Human-Robot Collaboration
In this paper, we propose the Interactive Text2Pickup (IT2P) network for
human-robot collaboration which enables an effective interaction with a human
user despite the ambiguity in user's commands. We focus on the task where a
robot is expected to pick up an object instructed by a human, and to interact
with the human when the given instruction is vague. The proposed network
understands the command from the human user and estimates the position of the
desired object first. To handle the inherent ambiguity in human language
commands, a suitable question which can resolve the ambiguity is generated. The
user's answer to the question is combined with the initial command and given
back to the network, resulting in more accurate estimation. The experiment
results show that given unambiguous commands, the proposed method can estimate
the position of the requested object with an accuracy of 98.49% based on our
test dataset. Given ambiguous language commands, we show that the accuracy of
the pick up task increases by 1.94 times after incorporating the information
obtained from the interaction.Comment: 8 pages, 9 figure
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