Unsupervised Learning of Hierarchical Models for Hand-Object Interactions
نویسندگان
چکیده
Contact forces of the hand are visually unobservable, but play a crucial role in understanding hand-object interactions. In this paper, we propose an unsupervised learning approach for manipulation event segmentation and manipulation event parsing. The proposed framework incorporates hand pose kinematics and contact forces using a low-cost easy-to-replicate tactile glove. We use a temporal grammar model to capture the hierarchical structure of events, integrating extracted force vectors from the raw sensory input of poses and forces. The temporal grammar is represented as a temporal And-Or graph (T-AOG), which can be induced in an unsupervised manner. We obtain the event labeling sequences by measuring the similarity between segments using the Dynamic Time Alignment Kernel (DTAK). Experimental results show that our method achieves high accuracy in manipulation event segmentation, recognition and parsing by utilizing both pose and force data.
منابع مشابه
High-Dimensional Unsupervised Active Learning Method
In this work, a hierarchical ensemble of projected clustering algorithm for high-dimensional data is proposed. The basic concept of the algorithm is based on the active learning method (ALM) which is a fuzzy learning scheme, inspired by some behavioral features of human brain functionality. High-dimensional unsupervised active learning method (HUALM) is a clustering algorithm which blurs the da...
متن کاملAn Unsupervised Learning Method for an Attacker Agent in Robot Soccer Competitions Based on the Kohonen Neural Network
RoboCup competition as a great test-bed, has turned to a worldwide popular domains in recent years. The main object of such competitions is to deal with complex behavior of systems whichconsist of multiple autonomous agents. The rich experience of human soccer player can be used as a valuable reference for a robot soccer player. However, because of the differences between real and simulated soc...
متن کاملEvaluation of Iranian electronic products manufacturing industries using an unsupervised model, ARAS, SAW, and DEA models
متن کامل
Unsupervised Modeling of Objects and Their Hierarchical Contextual Interactions
A successful representation of objects in literature is as a collection of patches, or parts, with a certain appearance and position. The relative locations of the different parts of an object are constrained by the geometry of the object. Going beyond a single object, consider a collection of images of a particular scene category containing multiple (recurring) objects. The parts belonging to ...
متن کاملLearning Hierarchical Representations for Video Analysis Using Deep Learning
With the exponential growth of the digital data, video content analysis (e.g., action, event recognition) has been drawing increasing attention from computer vision researchers. Effective modeling of the objects, scenes, and motions is critical for visual understanding. Recently there has been a growing interest in the bio-inspired deep learning models, which has shown impressive results in spe...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2018