Foundational Models for Manipulation Activity Parsing

Daniel Beßler (), Robert Porzel (), Mihai Pomarlan () and Michael Beetz
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Daniel Beßler: Bremen University
Robert Porzel: Bremen University
Mihai Pomarlan: Bremen University
Michael Beetz: Bremen University

A chapter in Extended Reality and Metaverse, 2023, pp 115-121 from Springer

Abstract: Abstract Human demonstrations of everyday activities are an important resource to learn the particularities of the corresponding control strategies that are needed to perform such activities with ease and competence. However, such demonstrations need to be annotated such that time segments get associated to the appropriate actions. Previous research in psychology has shown that humans find contact and force events to be particularly significant when adapting control situations during a task. Based on the psychologically motivated Flanagan model, we present a method to recognize activities from force dynamic events and states. For this, we incorporated the Flanagan model in an ontology, together with Allen’s interval algebra to model temporal ordering constraints. We use the ontology to generate the grammar of an activity parser. Due to this parser creation method, the system can also be used as a verification tool for the ontology.

Keywords: Formal ontologies; Activity understanding; Robotics; Virtual reality (search for similar items in EconPapers)
Date: 2023
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Persistent link: https://EconPapers.repec.org/RePEc:spr:prbchp:978-3-031-25390-4_10

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DOI: 10.1007/978-3-031-25390-4_10

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