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 dual problem is action prediction in discrete outcome space. Relevant work include a Conditional Random Field based approach by Koppula @cite_18 to capture temporal dependencies and Saponaro's Hidden Markov Model based approach @cite_26 . Recently, Recurrent Neural Networks, without limiting Markovian assumptions, have shown excellent results [16], [17], [20]. Relevant work include, the structural RNN as a means of encoding past contextual information and predicting a fixed number of steps in the future by Jain @cite_10 . While the field has had a rapid evolution in the last couple of years, there are two shortcomings in the literature this paper addresses.
@cite_18 @cite_26 @cite_10
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Recurrent neural nets (RNN) and convolutional neural nets (CNN) are widely used on NLP tasks to capture the long-term and local dependencies, respectively. Attention mechanisms have recently attracted enormous interest due to their highly parallelizable computation, significantly less training time, and flexibility in modeling dependencies. We propose a novel attention mechanism in which the attention between elements from input sequence(s) is directional and multi-dimensional (i.e., feature-wise). A light-weight neural net, "Directional Self-Attention Network (DiSAN)", is then proposed to learn sentence embedding, based solely on the proposed attention without any RNN CNN structure. DiSAN is only composed of a directional self-attention with temporal order encoded, followed by a multi-dimensional attention that compresses the sequence into a vector representation. Despite its simple form, DiSAN outperforms complicated RNN models on both prediction quality and time efficiency. It achieves the best test accuracy among all sentence encoding methods and improves the most recent best result by 1.02 on the Stanford Natural Language Inference (SNLI) dataset, and shows state-of-the-art test accuracy on the Stanford Sentiment Treebank (SST), Multi-Genre natural language inference (MultiNLI), Sentences Involving Compositional Knowledge (SICK), Customer Review, MPQA, TREC question-type classification and Subjectivity (SUBJ) datasets. The Nonlinear autoregressive exogenous (NARX) model, which predicts the current value of a time series based upon its previous values as well as the current and past values of multiple driving (exogenous) series, has been studied for decades. Despite the fact that various NARX models have been developed, few of them can capture the long-term temporal dependencies appropriately and select the relevant driving series to make predictions. In this paper, we propose a dual-stage attention-based recurrent neural network (DA-RNN) to address these two issues. In the first stage, we introduce an input attention mechanism to adaptively extract relevant driving series (a.k.a., input features) at each time step by referring to the previous encoder hidden state. In the second stage, we use a temporal attention mechanism to select relevant encoder hidden states across all time steps. With this dual-stage attention scheme, our model can not only make predictions effectively, but can also be easily interpreted. Thorough empirical studies based upon the SML 2010 dataset and the NASDAQ 100 Stock dataset demonstrate that the DA-RNN can outperform state-of-the-art methods for time series prediction. Spatial and temporal contextual information plays a key role for analyzing user behaviors, and is helpful for predicting where he or she will go next. With the growing ability of collecting information, more and more temporal and spatial contextual information is collected in systems, and the location prediction problem becomes crucial and feasible. Some works have been proposed to address this problem, but they all have their limitations. Factorizing Personalized Markov Chain (FPMC) is constructed based on a strong independence assumption among different factors, which limits its performance. Tensor Factorization (TF) faces the cold start problem in predicting future actions. Recurrent Neural Networks (RNN) model shows promising performance comparing with PFMC and TF, but all these methods have problem in modeling continuous time interval and geographical distance. In this paper, we extend RNN and propose a novel method called Spatial Temporal Recurrent Neural Networks (ST-RNN). ST-RNN can model local temporal and spatial contexts in each layer with time-specific transition matrices for different time intervals and distance-specific transition matrices for different geographical distances. Experimental results show that the proposed ST-RNN model yields significant improvements over the competitive compared methods on two typical datasets, i.e., Global Terrorism Database (GTD) and Gowalla dataset. In this paper, we propose a non-local structured prior for volumetric multi-view 3D reconstruction. Towards this goal, we present a novel Markov random field model based on ray potentials in which assumptions about large 3D surface patches such as planarity or Manhattan world constraints can be efficiently encoded as probabilistic priors. We further derive an inference algorithm that reasons jointly about voxels, pixels and image segments, and estimates marginal distributions of appearance, occupancy, depth, normals and planarity. Key to tractable inference is a novel hybrid representation that spans both voxel and pixel space and that integrates non-local information from 2D image segmentations in a principled way. We compare our non-local prior to commonly employed local smoothness assumptions and a variety of state-of-the-art volumetric reconstruction baselines on challenging outdoor scenes with textureless and reflective surfaces. Our experiments indicate that regularizing over larger distances has the potential to resolve ambiguities where local regularizers fail.