NDLI: Anticipating human activities for reactive robotic response

Content Provider	IEEE Xplore Digital Library
Author	Koppula, H.S. Saxena, A.
Copyright Year	2013
Description	Author affiliation: Dept. of Comput. Sci., Cornell Univ., Ithaca, NY, USA (Koppula, H.S.; Saxena, A.)
Abstract	An important aspect of human perception is anticipation, which we use extensively in our day-to-day activities when interacting with other humans as well as with our surroundings. Anticipating which activities will a human do next (and how to do them) can enable an assistive robot to plan ahead for reactive responses in the human environments. In this work, our goal is to enable robots to predict the future activities as well as the details of how a human is going to perform them in short-term (e.g., 1-10 seconds). For example, if a robot has seen a person move his hand to a coffee mug, it is possible he would move the coffee mug to a few potential places such as his mouth, to a kitchen sink or just move it to a different location on the table. If a robot can anticipate this, then it would rather not start pouring milk into the coffee when the person is moving his hand towards the mug, thus avoiding a spill. We represent each possible future using an anticipatory temporal conditional random field (ATCRF) that models the rich spatial-temporal relations through object affordances. We then consider each ATCRF as a particle and represent the distribution over the potential futures using a set of particles. We evaluate our anticipation approach extensively on CAD-120 human activity dataset, which contains 120 RGB-D videos of daily human activities, such as microwaving food, taking medicine, etc. For robotic evaluation, we measure how many times the robot anticipates and performs the correct reactive response. The accompanying video shows a PR2 robot performing assistive tasks based on the anticipations generated by our proposed method.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2071
Ending Page	2071
File Size	118658
Page Count	1
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696634
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Videos Trajectory Mouth Computational modeling Measurement Conferences
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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