Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues. Recent approaches based on neural networks have led to encouraging results in the human action prediction problem both in continuous and discrete spaces. Our approach extends the research in this direction. Our contributions are three-fold. First, we validate the use of gaze and body pose cues as a means of predicting human action through a feature selection method. Next, we address two shortcomings of existing literature: predicting multiple and variable-length action sequences. This is achieved by introducing an encoder-decoder recurrent neural network topology in the discrete action prediction problem. In addition, we theoretically demonstrate the importance of predicting multiple action sequences as a means of estimating the stochastic reward in a human robot cooperation scenario. Finally, we show the ability to effectively train the prediction model on a action prediction dataset, involving human motion data, and explore the influence of the model's parameters on its performance.
The second shortcoming is related to the single future action sequence versus multiple future action sequences. While models like the one introduced in @cite_5 are able to effectively use recurrent models to predict a variable number of steps into the future, their scope is limited to a regression setting, where sampling multiple future action sequences is a non-trivial problem. This paper explores a multiple future action sequence predictor in the classification setting.
@cite_5
2962825837 2093655440 2235735853 2036317923
With the rapid growth of Internet applications, sequential prediction in collaborative filtering has become an emerging and crucial task. Given the behavioral history of a specific user, predicting his or her next choice plays a key role in improving various online services. Meanwhile, there are more and more scenarios with multiple types of behaviors, while existing works mainly study sequences with a single type of behavior. As a widely used approach, Markov chain based models are based on a strong independence assumption. As two classical neural network methods for modeling sequences, recurrent neural networks cannot well model short-term contexts, and the log-bilinear model is not suitable for long-term contexts. In this paper, we propose a Recurrent Log-BiLinear (RLBL) model. It can model multiple types of behaviors in historical sequences with behavior-specific transition matrices. RLBL applies a recurrent structure for modeling long-term contexts. It models several items in each hidden layer and employs position-specific transition matrices for modeling short-term contexts. Moreover, considering continuous time difference in behavioral history is a key factor for dynamic prediction, we further extend RLBL and replace position-specific transition matrices with time-specific transition matrices, and accordingly propose a Time-Aware Recurrent Log-BiLinear (TA-RLBL) model. Experimental results show that the proposed RLBL model and TA-RLBL model yield significant improvements over the competitive compared methods on three datasets, i.e., Movielens-1M dataset, Global Terrorism Database and Tmall dataset with different numbers of behavior types. Early prediction of ongoing human activity has become more valuable in a large variety of time-critical applications. To build an effective representation for prediction, human activities can be characterized by a complex temporal composition of constituent simple actions and interacting objects. Different from early detection on short-duration simple actions, we propose a novel framework for long -duration complex activity prediction by discovering three key aspects of activity: Causality, Context-cue, and Predictability. The major contributions of our work include: (1) a general framework is proposed to systematically address the problem of complex activity prediction by mining temporal sequence patterns; (2) probabilistic suffix tree (PST) is introduced to model causal relationships between constituent actions, where both large and small order Markov dependencies between action units are captured; (3) the context-cue, especially interactive objects information, is modeled through sequential pattern mining (SPM), where a series of action and object co-occurrence are encoded as a complex symbolic sequence; (4) we also present a predictive accumulative function (PAF) to depict the predictability of each kind of activity. The effectiveness of our approach is evaluated on two experimental scenarios with two data sets for each: action-only prediction and context-aware prediction. Our method achieves superior performance for predicting global activity classes and local action units. We all have experienced forgetting habitual actions among our daily activities. For example, we probably have forgotten to turn the lights off before leaving a room or turn the stove off after cooking. In this paper, we propose a solution to the problem of issuing notifications on actions that may be missed. This involves learning about interdependencies between actions and being able to predict an ongoing action while segmenting the input video stream. In order to show a proof of concept, we collected a new egocentric dataset, in which people wear a camera while making lattes. We show promising results on the extremely challenging task of issuing correct and timely reminders. We also show that our model reliably segments the actions, while predicting the ongoing one when only a few frames from the beginning of the action are observed. The overall prediction accuracy is 46.2 when only 10 frames of an action are seen (2 3 of a sec). Moreover, the overall recognition and segmentation accuracy is shown to be 72.7 when the whole activity sequence is observed. Finally, the online prediction and segmentation accuracy is 68.3 when the prediction is made at every time step. Previous neural network learning algorithms for sequence processing are computationally expensive and perform poorly when it comes to long time lags. This paper first introduces a simple principle for reducing the descriptions of event sequences without loss of information. A consequence of this principle is that only unexpected inputs can be relevant. This insight leads to the construction of neural architectures that learn to “divide and conquer” by recursively decomposing sequences. I describe two architectures. The first functions as a self-organizing multilevel hierarchy of recurrent networks. The second, involving only two recurrent networks, tries to collapse a multilevel predictor hierarchy into a single recurrent net. Experiments show that the system can require less computation per time step and many fewer training sequences than conventional training algorithms for recurrent nets.