Anticipating Human Activities Using Object Affordances for Reactive Robotic Response

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) can enable an assistive robot to plan ahead for reactive responses. Furthermore, anticipation can even improve the detection accuracy of past activities. The challenge, however, is two-fold: We need to capture the rich context for modeling the activities and object affordances, and we need to anticipate the distribution over a large space of future human activities. In this work, we represent each possible future using an anticipatory temporal conditional random field…

• NS
  National Science Foundation
• ID
  Instituto de Ciencias del Mar y Limnología, Universidad Nacional Autónoma de México
• AR
  Army Research Office

  Award: W911NF-12-1-0267