Execution monitoring is essential for robots to detect and respond to failures. Since it is impossible to enumerate all failures for a given task, we learn from successful executions of the task to detect visual anomalies during runtime. Our method learns to predict the motions that occur during the nominal execution of a task, including camera and robot body motion. A probabilistic U-Net architecture is used to learn to predict optical flow, and the robot's kinematics and 3D model are used to model camera and body motion. The errors between the observed and predicted motion are used to calculate an anomaly score. We evaluate our method on a dataset of a robot placing a book on a shelf, which includes anomalies such as falling books, camera occlusions, and robot disturbances. We find that modeling camera and body motion, in addition to the learning-based optical flow prediction, results in an improvement of the area under the receiver operating characteristic curve from 0.752 to 0.804, and the area under the precision-recall curve from 0.467 to 0.549.

Action recognition is an important component to improve autonomy of physical rehabilitation devices, such as wearable robotic exoskeletons. Existing human action recognition algorithms focus on adult applications rather than pediatric ones. In this paper, we introduce BabyNet, a light-weight (in terms of trainable parameters) network structure to recognize infant reaching action from off-body stationary cameras. We develop an annotated dataset that includes diverse reaches performed while in a sitting posture by different infants in unconstrained environments (e.g., in home settings, etc.). Our approach uses the spatial and temporal connection of annotated bounding boxes to interpret onset and offset of reaching, and to detect a complete reaching action. We evaluate the efficiency of our proposed approach and compare its performance against other learning-based network structures in terms of capability of capturing temporal inter-dependencies and accuracy of detection of reaching onset and offset. Results indicate our BabyNet can attain solid performance in terms of (average) testing accuracy that exceeds that of other larger networks, and can hence serve as a light-weight data-driven framework for video-based infant reaching action recognition.

Robust and computationally efficient anomaly detection in videos is a problem in video surveillance systems. We propose a technique to increase robustness and reduce computational complexity in a Convolutional Neural Network (CNN) based anomaly detector that utilizes the optical flow information of video data. We reduce the complexity of the network by denoising the intermediate layer outputs of the CNN and by using powers-of-two weights, which replaces the computationally expensive multiplication operations with bit-shift operations. Denoising operation during inference forces small valued intermediate layer outputs to zero. The number of zeros in the network significantly increases as a result of denoising, we can implement the CNN about 10% faster than a comparable network while detecting all the anomalies in the testing set. It turns out that denoising operation also provides robustness because the contribution of small intermediate values to the final result is negligible. During training we also generate motion vector images by a Generative Adversarial Network (GAN) to improve the robustness of the overall system. We experimentally observe that the resulting system is robust to background motion.

In this paper, we present a technique for unsupervised learning of visual representations. Specifically, we train a model for foreground and background classification task, in the process of which it learns visual representations. Foreground and background patches for training come af- ter mining for such patches from hundreds and thousands of unlabelled videos available on the web which we ex- tract using a proposed patch extraction algorithm. With- out using any supervision, with just using 150, 000 unla- belled videos and the PASCAL VOC 2007 dataset, we train a object recognition model that achieves 45.3 mAP which is close to the best performing unsupervised feature learn- ing technique whereas better than many other proposed al- gorithms. The code for patch extraction is implemented in Matlab and available open source at the following link .