相关论文: Multimodal Hierarchical Dirichlet Process-based Ac…

We introduce a non-parametric hierarchical Bayesian approach for open-ended 3D object categorization, named the Local Hierarchical Dirichlet Process (Local-HDP). This method allows an agent to learn independent topics for each category…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

Attention control is a key cognitive ability for humans to select information relevant to the current task. This paper develops a computational model of attention and an algorithm for attention-based probabilistic planning in Markov…

Endowing the robotic systems with cognitive capabilities for recognizing daily activities of humans is an important challenge, which requires sophisticated and novel approaches. Most of the proposed approaches explore pattern recognition…

In active perception tasks, an agent aims to select sensory actions that reduce its uncertainty about one or more hidden variables. While partially observable Markov decision processes (POMDPs) provide a natural model for such problems,…

Local-HDP (for Local Hierarchical Dirichlet Process) is a hierarchical Bayesian method that has recently been used for open-ended 3D object category recognition. This method has been proven to be efficient in real-time robotic applications.…

We address a class of manipulation problems where the robot perceives the scene with a depth sensor and can move its end effector in a space with six degrees of freedom -- 3D position and orientation. Our approach is to formulate the…

The framework of mixed observable Markov decision processes (MOMDP) models many robotic domains in which some state variables are fully observable while others are not. In this work, we identify a significant subclass of MOMDPs defined by…

Object localization has been a crucial task in computer vision field. Methods of localizing objects in an image have been proposed based on the features of the attended pixels. Recently researchers have proposed methods to formulate object…

One of the central problems in computer vision is the detection of semantically important objects and the estimation of their pose. Most of the work in object detection has been based on single image processing and its performance is…

Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation…

Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…

To fluently collaborate with people, robots need the ability to recognize human activities accurately. Although modern robots are equipped with various sensors, robust human activity recognition (HAR) still remains a challenging task for…

Active classification, i.e., the sequential decision-making process aimed at data acquisition for classification purposes, arises naturally in many applications, including medical diagnosis, intrusion detection, and object tracking. In this…

Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

As robot autonomy improves, robots are increasingly being considered in the role of autonomous observation systems -- free-flying cameras capable of actively tracking human activity within some predefined area of interest. In this work, we…

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…

In this paper, we present an unsupervised learning framework for analyzing activities and interactions in surveillance videos. In our framework, three levels of video events are connected by Hierarchical Dirichlet Process (HDP) model:…

Multi-agent active perception is a task where a team of agents cooperatively gathers observations to compute a joint estimate of a hidden variable. The task is decentralized and the joint estimate can only be computed after the task ends by…