相关论文: Annotating Motion Primitives for Simplifying Actio…

Deep neural networks deliver state-of-the-art visual recognition, but they rely on large datasets, which are time-consuming to annotate. These datasets are typically annotated in two stages: (1) determining the presence of object classes at…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Temporal Activity Detection aims to predict activity classes per frame, in contrast to video-level predictions in Activity Classification (i.e., Activity Recognition). Due to the expensive frame-level annotations required for detection, the…

Symbols representing abstract states such as "dish in dishwasher" or "cup on table" allow robots to reason over long horizons by hiding details unnecessary for high-level planning. Current methods for learning to identify symbolic states in…

The existing Motion Imitation models typically require expert data obtained through MoCap devices, but the vast amount of training data needed is difficult to acquire, necessitating substantial investments of financial resources, manpower,…

A common theme in robot assembly is the adoption of Manipulation Primitives as the atomic motion to compose assembly strategy, typically in the form of a state machine or a graph. While this approach has shown great performance and…

This paper introduces EXMOVES, learned exemplar-based features for efficient recognition of actions in videos. The entries in our descriptor are produced by evaluating a set of movement classifiers over spatial-temporal volumes of the input…

We introduce a novel self-supervised learning approach to learn representations of videos that are responsive to changes in the motion dynamics. Our representations can be learned from data without human annotation and provide a substantial…

The reinforcement learning paradigm allows, in principle, for complex behaviours to be learned directly from simple reward signals. In practice, however, it is common to carefully hand-design the reward function to encourage a particular…

Deep learning models have achieved state-of-the- art performance in recognizing human activities, but often rely on utilizing background cues present in typical computer vision datasets that predominantly have a stationary camera. If these…

Action recognition is a critical task for social robots to meaningfully engage with their environment. 3D human skeleton-based action recognition is an attractive research area in recent years. Although, the existing approaches are good at…

Unlike images or videos data which can be easily labeled by human being, sensor data annotation is a time-consuming process. However, traditional methods of human activity recognition require a large amount of such strictly labeled data for…

Temporal action segmentation approaches have been very successful recently. However, annotating videos with frame-wise labels to train such models is very expensive and time consuming. While weakly supervised methods trained using only…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

Continuous action spaces in reinforcement learning (RL) are commonly defined as multidimensional intervals. While intervals usually reflect the action boundaries for tasks well, they can be challenging for learning because the typically…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

We introduce Action Discovery, a novel setup within Temporal Action Segmentation that addresses the challenge of defining and annotating ambiguous actions and incomplete annotations in partially labeled datasets. In this setup, only a…

Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors,…

The emerging field of action prediction plays a vital role in various computer vision applications such as autonomous driving, activity analysis and human-computer interaction. Despite significant advancements, accurately predicting future…

The goal of this paper is to self-train a 3D convolutional neural network on an unlabeled video collection for deployment on small-scale video collections. As smaller video datasets benefit more from motion than appearance, we strive to…