相关论文: Differentiable Task Graph Learning: Procedural Act…

We introduce a gradient-based approach for learning task graphs from procedural activities, improving over hand-crafted methods. Our method directly optimizes edge weights via maximum likelihood, enabling integration into neural…

Procedural activity understanding requires perceiving human actions in terms of a broader task, where multiple keysteps are performed in sequence across a long video to reach a final goal state -- such as the steps of a recipe or a DIY…

Given video demonstrations and paired narrations of an at-home procedural task such as changing a tire, we present an approach to extract the underlying task structure -- relevant actions and their temporal dependencies -- via…

Egocentric videos capture scenes from a wearer's viewpoint, resulting in dynamic backgrounds, frequent motion, and occlusions, posing challenges to accurate keystep recognition. We propose a flexible graph-learning framework for…

This work explores the problem of generating task graphs of real-world activities. Different from prior formulations, we consider a setting where text transcripts of instructional videos performing a real-world activity (e.g., making…

Despite decades of research, understanding human manipulation activities is, and has always been, one of the most attractive and challenging research topics in computer vision and robotics. Recognition and prediction of observed human…

In this work we employ multitask learning to capitalize on the structure that exists in related supervised tasks to train complex neural networks. It allows training a network for multiple objectives in parallel, in order to improve…

In this paper we consider the problem of classifying fine-grained, multi-step activities (e.g., cooking different recipes, making disparate home improvements, creating various forms of arts and crafts) from long videos spanning up to…

In the learning from demonstration (LfD) paradigm, understanding and evaluating the demonstrated behaviors plays a critical role in extracting control policies for robots. Without this knowledge, a robot may infer incorrect reward functions…

Procedure learning involves identifying the key-steps and determining their logical order to perform a task. Existing approaches commonly use third-person videos for learning the procedure, making the manipulated object small in appearance…

Different video understanding tasks are typically treated in isolation, and even with distinct types of curated data (e.g., classifying sports in one dataset, tracking animals in another). However, in wearable cameras, the immersive…

Machine learning on graph structured data has attracted much research interest due to its ubiquity in real world data. However, how to efficiently represent graph data in a general way is still an open problem. Traditional methods use…

Mistake action detection is crucial for developing intelligent archives that detect workers' errors and provide feedback. Existing studies have focused on visually apparent mistakes in free-style activities, resulting in video-only…

An important part of many machine learning workflows on graphs is vertex representation learning, i.e., learning a low-dimensional vector representation for each vertex in the graph. Recently, several powerful techniques for unsupervised…

We pose keystep recognition as a node classification task, and propose a flexible graph-learning framework for fine-grained keystep recognition that is able to effectively leverage long-term dependencies in egocentric videos. Our approach,…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

The abundance of instructional videos and their narrations over the Internet offers an exciting avenue for understanding procedural activities. In this work, we propose to learn video representation that encodes both action steps and their…

Identifying procedural errors online from egocentric videos is a critical yet challenging task across various domains, including manufacturing, healthcare, and skill-based training. The nature of such mistakes is inherently open-set, as…

A large amount of procedural videos on the web show how to complete various tasks. These tasks can often be accomplished in different ways and step orderings, with some steps able to be performed simultaneously, while others are constrained…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…