Anticipating human activities for reactive robotic response

摘要

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.