{"id":4609,"date":"2020-06-24T14:12:18","date_gmt":"2020-06-24T06:12:18","guid":{"rendered":"http:\/\/pairlabs.ai.pro6.designworks.tw\/?post_type=portfolio&#038;p=4609"},"modified":"2021-12-16T10:36:03","modified_gmt":"2021-12-16T02:36:03","slug":"development-of-theory-and-systems-of-robot-learning-from-human-demonstration-lfd-human-action-and-face-expression-analysis-system-based-on-3-d-images-p-en","status":"publish","type":"portfolio","link":"https:\/\/pairlabs.ai\/en\/portfolio-item\/development-of-theory-and-systems-of-robot-learning-from-human-demonstration-lfd-human-action-and-face-expression-analysis-system-based-on-3-d-images-p-en\/","title":{"rendered":"Development of Learning from Human Demonstration (LfD) Robotic Systems with Navigation Capability Based on Human Action Recognition"},"content":{"rendered":"<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_1' class='avia-section main_color avia-section-large avia-no-border-styling avia-full-stretch av-section-color-overlay-active avia-bg-style-fixed    av-small-hide av-mini-hide container_wrap sidebar_right' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  '  data-section-bg-repeat='stretch' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  ' ><div class='av-section-color-overlay-wrap'><div class='av-section-color-overlay' style='opacity: 0.6; background-color: #ffffff; '><\/div><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '  style='font-size:20px; '  itemprop=\"text\" ><p style=\"text-align: center;\">Pervasive Artificial Intelligence Research (PAIR) Labs<\/p>\n<\/div><\/section><br \/>\n<div style='height:20px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top    \" style='background-color:#00a0e9; background:linear-gradient(to bottom right,#00a0e9,#25a98f); padding:10px; border-radius:0px; '><p><div style=' margin-top:-21px; margin-bottom:0px;'  class='hr hr-custom hr-center hr-icon-yes   '><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><span class='av-seperator-icon' style='color:#ffffff;' aria-hidden='true' data-av_icon='\ue883' data-av_iconfont='entypo-fontello'><\/span><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  av_inherit_color '  style='font-size:30px; color:#ffffff; '  itemprop=\"text\" ><h1 style=\"text-align: center;\">Robotics and sensing technology Team<\/h1>\n<\/div><\/section><\/p><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><\/div><div id='after_section_1' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_2' class='avia-section main_color avia-section-large avia-no-border-styling avia-full-stretch av-section-color-overlay-active avia-bg-style-fixed    av-desktop-hide av-medium-hide container_wrap sidebar_right' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  '  data-section-bg-repeat='stretch' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  ' ><div class='av-section-color-overlay-wrap'><div class='av-section-color-overlay' style='opacity: 0.6; background-color: #ffffff; '><\/div><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '  style='font-size:20px; '  itemprop=\"text\" ><p style=\"text-align: center;\">Pervasive Artificial Intelligence Research (PAIR) Labs<\/p>\n<\/div><\/section><br \/>\n<div style='height:1px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><\/p><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top    \" style='background-color:#00a0e9; background:linear-gradient(to bottom right,#00a0e9,#25a98f); padding:10px; border-radius:0px; '><p><div style=' margin-top:-21px; margin-bottom:0px;'  class='hr hr-custom hr-center hr-icon-yes   '><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><span class='av-seperator-icon' style='color:#ffffff;' aria-hidden='true' data-av_icon='\ue883' data-av_iconfont='entypo-fontello'><\/span><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  av_inherit_color '  style='font-size:30px; color:#ffffff; '  itemprop=\"text\" ><h2 style=\"text-align: center;\">Robotics and sensing technology Team<\/h2>\n<\/div><\/section><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><\/div><div id='after_section_2' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_3' class='avia-section socket_color avia-section-default avia-no-border-styling avia-bg-style-scroll    av-arrow-down-section container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<div style='padding-bottom:0px; margin:0 0 0 0; font-size:30px;' class='av-special-heading av-special-heading-h3  blockquote modern-quote modern-centered   av-inherit-size '><h3 class='av-special-heading-tag '  itemprop=\"headline\"  >Development of Learning from Human Demonstration (LfD) Robotic Systems with Navigation Capability Based on Human Action Recognition<\/h3><div class='special-heading-border'><div class='special-heading-inner-border' ><\/div><\/div><\/div>\n<\/div><\/div><\/div><!-- close content main div --><\/div><div class='av-extra-border-element border-extra-arrow-down'><div class='av-extra-border-outer'><div class='av-extra-border-inner'  style='background-color:#333333;' ><\/div><\/div><\/div><\/div><div id='after_section_3' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'><\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_4' class='avia-section main_color avia-section-default avia-no-border-styling avia-bg-style-scroll   container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<div class=\"flex_column av_three_fifth  flex_column_div av-zero-column-padding first  \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '   itemprop=\"text\" ><h5><b>Principal Investigator:<\/b><a href=\"https:\/\/pairlabs.ai\/en\/portfolio-item\/professor-chen-chien-hsu-pi-en\/\">Professor Chen-Chien Hsu<\/a><\/h5>\n<p>&#8212;<\/p>\n<blockquote>\n<h5><b>Summary<\/b><\/h5>\n<\/blockquote>\n<p>This project focuses on the development of a learning from demonstration (LfD) robot system, using deep learning techniques to recognize human actions and facial expressions, as well as employing algorithms such as object tracking and visual simultaneous localization and mapping (VSLAM) to allow robots capable of mobility to act in accordance with human demonstrations in an indoor environment. The first year project has established a facial expression recognition and an action recognition system through deep learning for incorporation into the LfD system framework in the future. Together with the control and motion planning through deep learning approach of the robot arm, a mimic robot system through the demonstrations of a human is established under the LfD system framework. To achieve a mobile LfD system, the first year project also builds an object tracking system on FPGA hardware for evaluating the performance of the feature detection and matching modules that we have designed and implemented.<\/p>\n<blockquote>\n<h5><b>Keywords<\/b><\/h5>\n<\/blockquote>\n<p>learning from demonstration (LfD), deep learning, generated adversarial network, facial expression recognition, action recognition, reinforcement learning, object tracking, visual simultaneous localization and mapping (VSLAM), FPGA<\/p>\n<blockquote>\n<h5><b>Innovations<\/b><\/h5>\n<\/blockquote>\n<ul>\n<li>We proposed the use of a hybrid two-stream architecture incorporating a LeNet and partial ResNet to build a facial expression recognition system.<\/li>\n<li>We established an action recognition system based a two-stream I3D architecture, where input data are continuous RGB and optical flow images, respectively. Initial parameters of weights are set by the model pre-trained using the ImageNet database.<\/li>\n<li>A mimic robot system is developed that learns the purpose of an action by investigating the overlapped trajectories of the demonstrated action. Object recognition is provided by a Yolo algorithm, and an RGB-D camera is used for deriving 3D trajectories of an action, based on which the robot arm can act according to the human demonstration.<\/li>\n<li>A novel DNN-based inverse kinematics algorithm is proposed for a large-size humanoid robot. The database for training the DNN is designed by random motor angle data, and the inputs of the network include the motor angle as well as the corresponding expected step sizes.<\/li>\n<li>We develop a hardware-implemented object tracking system on an FPGA platform, where SIFT and matching algorithms are optimized and designed to improve their overall hardware efficiencies. The whole object tracking system is capable of performing in real-time.<\/li>\n<\/ul>\n<blockquote>\n<h5><b>Benefits<\/b><\/h5>\n<\/blockquote>\n<ul>\n<li>Based on Real-world Affective Faces (RAF) database, facial recognition of 7 different expressions including anger, disgust, fear, happiness, sadness, neutral and surprise has been achieved. Real-time facial expression recognition is also achieved by extracting images from a webcam.<\/li>\n<li>Based on UCF-101 database, experimental results show that a satisfactory 95.5% of success rate can be reached for the action recognition system. Real-time action recognition is also achieved by extracting a video stream of about 3 seconds from a webcam.<\/li>\n<li>A UR3 6-DOF robotic arm is used to establish a mimic robot system, where objects are recognized to derive 3D trajectories of an action.<\/li>\n<li>Compare with the conventional Jacobian-based inverse kinematics algorithm, the proposed DNN-based inverse kinematics algorithm can reliably and smoothly perform a particular trajectory of an action at singular points, as shown in Figure 3 (a) and (b). It is preferable to use the proposed approach for a large-size humanoid robot because only small errors occurred in large movements.<\/li>\n<li>SIFT detection and matching are implemented on an FPGA to significantly improve their computational efficiency, compared to software platforms including a Nios and a PC, as shown in Table 1.<\/li>\n<\/ul>\n<\/div><\/section><\/div><div class=\"flex_column av_two_fifth  flex_column_div av-zero-column-padding   \" style='border-radius:0px; '><p><div class='avia-progress-bar-container  av-desktop-hide av-medium-hide av-small-hide av-mini-hide avia_animate_when_almost_visible   av-striped-bar av-animated-bar '><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 1<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 91%' data-progress='91'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 2<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 86%' data-progress='86'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 3<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 97%' data-progress='97'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 4<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 85%' data-progress='85'><\/div><\/div><\/div><\/div><\/div><br \/>\n<div style='height:20px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<div id='av-masonry-1' class='av-masonry  noHover av-fixed-size av-no-gap av-hover-overlay- av-masonry-animation-active av-masonry-col-2 av-caption-always av-caption-style- av-masonry-gallery   av-orientation-portrait   av-medium-columns-overwrite av-medium-columns-2 av-small-columns-overwrite av-small-columns-2 av-mini-columns-overwrite av-mini-columns-2'  ><div class='av-masonry-container isotope av-js-disabled ' ><div class='av-masonry-entry isotope-item av-masonry-item-no-image '><\/div><a href=\"https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/06\/\u8a31\u9673\u9451-1-773x1030.jpg\" id='av-masonry-1-item-5104' data-av-masonry-item='5104' class='av-masonry-entry isotope-item post-5104 attachment type-attachment status-inherit hentry  av-masonry-item-with-image' title=\"\u8a31\u9673\u9451\"  itemprop=\"thumbnailUrl\" ><div class='av-inner-masonry-sizer'><\/div><figure class='av-inner-masonry main_color'><div class=\"av-masonry-outerimage-container\"><div class=\"av-masonry-image-container\" style=\"background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/06\/\u8a31\u9673\u9451-1-529x705.jpg);\" title=\"\u8a31\u9673\u9451\" ><\/div><\/div><\/figure><\/a><!--end av-masonry entry--><\/div><\/div><\/p><\/div><\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='after_section_4' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'><\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_5' class='avia-section alternate_color avia-section-default avia-no-border-styling avia-bg-style-scroll    container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4609'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class=\"flex_column av_two_fifth  flex_column_table_cell av-equal-height-column av-align-middle av-zero-column-padding first   \" style='border-radius:0px; '><div  data-autoplay='true'  data-interval='5'  data-animation='slide'  class='avia-logo-element-container av-border-deactivate avia-logo-slider avia-content-slider avia-smallarrow-slider avia-content-slider-active noHover avia-content-slider1 avia-content-slider-even   ' ><div class='avia-smallarrow-slider-heading  no-logo-slider-heading '><div class='new-special-heading'>&nbsp;<\/div><\/div><div class='avia-content-slider-inner'><div class='slide-entry-wrap' ><div  class='slide-entry flex_column no_margin post-entry slide-entry-overview slide-loop-1 slide-parity-odd  av_one_half first real-thumbnail'><span class='av-partner-fake-img' style='padding-bottom:51.111111111111%; background-image:url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2015\/08\/pair_logo.png);'><\/span><\/div><div  class='slide-entry flex_column no_margin post-entry slide-entry-overview slide-loop-2 slide-parity-even  av_one_half  real-thumbnail'><span class='av-partner-fake-img' style='padding-bottom:51.111111111111%; 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