Learning the Semantics of Manipulation Action

In this paper we present a formal computational framework for modeling manipulation actions. The introduced formalism leads to semantics of manipulation action and has applications to both observing and understanding human manipulation actions as well as executing them with a robotic mechanism (e.g. a humanoid robot). It is based on a Combinatory Categorial Grammar. The goal of the introduced framework is to: (1) represent manipulation actions with both syntax and semantic parts, where the semantic part employs $\lambda$-calculus; (2) enable a probabilistic semantic parsing schema to learn the $\lambda$-calculus representation of manipulation action from an annotated action corpus of videos; (3) use (1) and (2) to develop a system that visually observes manipulation actions and understands their meaning while it can reason beyond observations using propositional logic and axiom schemata. The experiments conducted on a public available large manipulation action dataset validate the theoretical framework and our implementation

Going Deeper with Semantics: Video Activity Interpretation using Semantic Contextualization

A deeper understanding of video activities extends beyond recognition of underlying concepts such as actions and objects: constructing deep semantic representations requires reasoning about the semantic relationships among these concepts, often beyond what is directly observed in the data. To this end, we propose an energy minimization framework that leverages large-scale commonsense knowledge bases, such as ConceptNet, to provide contextual cues to establish semantic relationships among entities directly hypothesized from video signal. We mathematically express this using the language of Grenander's canonical pattern generator theory. We show that the use of prior encoded commonsense knowledge alleviate the need for large annotated training datasets and help tackle imbalance in training through prior knowledge. Using three different publicly available datasets - Charades, Microsoft Visual Description Corpus and Breakfast Actions datasets, we show that the proposed model can generate video interpretations whose quality is better than those reported by state-of-the-art approaches, which have substantial training needs. Through extensive experiments, we show that the use of commonsense knowledge from ConceptNet allows the proposed approach to handle various challenges such as training data imbalance, weak features, and complex semantic relationships and visual scenes.Comment: Accepted to WACV 201

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

Making AI Meaningful Again

Artificial intelligence (AI) research enjoyed an initial period of enthusiasm in the 1970s and 80s. But this enthusiasm was tempered by a long interlude of frustration when genuinely useful AI applications failed to be forthcoming. Today, we are experiencing once again a period of enthusiasm, fired above all by the successes of the technology of deep neural networks or deep machine learning. In this paper we draw attention to what we take to be serious problems underlying current views of artificial intelligence encouraged by these successes, especially in the domain of language processing. We then show an alternative approach to language-centric AI, in which we identify a role for philosophy

Mind the Gap: Another look at the problem of the semantic gap in image retrieval

This paper attempts to review and characterise the problem of the semantic gap in image retrieval and the attempts being made to bridge it. In particular, we draw from our own experience in user queries, automatic annotation and ontological techniques. The first section of the paper describes a characterisation of the semantic gap as a hierarchy between the raw media and full semantic understanding of the media's content. The second section discusses real users' queries with respect to the semantic gap. The final sections of the paper describe our own experience in attempting to bridge the semantic gap. In particular we discuss our work on auto-annotation and semantic-space models of image retrieval in order to bridge the gap from the bottom up, and the use of ontologies, which capture more semantics than keyword object labels alone, as a technique for bridging the gap from the top down