SegICP: Integrated Deep Semantic Segmentation and Pose Estimation

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed and robustness, we present SegICP, a novel integrated solution to object recognition and pose estimation. SegICP couples convolutional neural networks and multi-hypothesis point cloud registration to achieve both robust pixel-wise semantic segmentation as well as accurate and real-time 6-DOF pose estimation for relevant objects. Our architecture achieves 1cm position error and <5^\circ$ angle error in real time without an initial seed. We evaluate and benchmark SegICP against an annotated dataset generated by motion capture.Comment: IROS camera-read

Survey of the State of the Art in Natural Language Generation: Core tasks, applications and evaluation

This paper surveys the current state of the art in Natural Language Generation (NLG), defined as the task of generating text or speech from non-linguistic input. A survey of NLG is timely in view of the changes that the field has undergone over the past decade or so, especially in relation to new (usually data-driven) methods, as well as new applications of NLG technology. This survey therefore aims to (a) give an up-to-date synthesis of research on the core tasks in NLG and the architectures adopted in which such tasks are organised; (b) highlight a number of relatively recent research topics that have arisen partly as a result of growing synergies between NLG and other areas of artificial intelligence; (c) draw attention to the challenges in NLG evaluation, relating them to similar challenges faced in other areas of Natural Language Processing, with an emphasis on different evaluation methods and the relationships between them.Comment: Published in Journal of AI Research (JAIR), volume 61, pp 75-170. 118 pages, 8 figures, 1 tabl

ContextVP: Fully Context-Aware Video Prediction

Video prediction models based on convolutional networks, recurrent networks, and their combinations often result in blurry predictions. We identify an important contributing factor for imprecise predictions that has not been studied adequately in the literature: blind spots, i.e., lack of access to all relevant past information for accurately predicting the future. To address this issue, we introduce a fully context-aware architecture that captures the entire available past context for each pixel using Parallel Multi-Dimensional LSTM units and aggregates it using blending units. Our model outperforms a strong baseline network of 20 recurrent convolutional layers and yields state-of-the-art performance for next step prediction on three challenging real-world video datasets: Human 3.6M, Caltech Pedestrian, and UCF-101. Moreover, it does so with fewer parameters than several recently proposed models, and does not rely on deep convolutional networks, multi-scale architectures, separation of background and foreground modeling, motion flow learning, or adversarial training. These results highlight that full awareness of past context is of crucial importance for video prediction.Comment: 19 pages. ECCV 2018 oral presentation. Project webpage is at https://wonmin-byeon.github.io/publication/2018-ecc