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Activity Recognition: Linking Low-level Sensors to High-level Intelligence

Activity Recognition: Linking Low-level Sensors to High-level Intelligence. Qiang Yang Hong Kong University of Science and Technology http://www.cse.ust.hk/~qyang/. What’s Happening Outside AI? . Pervasive Computing Sensor Networks Health Informatics Logistics Military/security WWW

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Activity Recognition: Linking Low-level Sensors to High-level Intelligence

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  1. Activity Recognition: Linking Low-level Sensors to High-level Intelligence Qiang Yang Hong Kong University of Science and Technology http://www.cse.ust.hk/~qyang/

  2. What’s Happening Outside AI? • Pervasive Computing • Sensor Networks • Health Informatics • Logistics • Military/security • WWW • Computer Human Interaction (CHI) • GIS…

  3. What’s Happening Outside AI? Apple iPhone Wii Ekahau WiFi Location Estimation

  4. Theme of The Talk • Activity Recognition: • What it is • Linking low level sensors to high level intelligence • Activity recognition research: Embedded AI • Empirical in nature • Research on a very limited budget

  5. A Closed Loop Cooking: Preconditions: (…), Postconditions: (…), Duration: (…) Eating, Resting, Cooking, Doing Laundry, Meeting, Using the telephone, Shopping, Playing Games, Watching TV, Driving … (From Bao and Intille, Pervasive 04)

  6. Activity Recognition: A Knowledge Food Chain • Action Model Learning • How to model user’s actions? • Activity Recognition • What is the user doing / will do next? • Localization & Context • Where is the user? • What’s around her? • Knowledge Food Chain • Output of each level acts as input to an upper level in a closed feedback loop

  7. Basic: Knowing Your Context • Locations and Context • Where are you? • What’s around you? • Who’s around you? • How long are you there? • Where were you before? • Status of objects (door open?) • What is the temperature like? • …

  8. Knowing Your Context • Locations and Context • Where are you? • What’s around you? • Who’s around you? • How long are you there? • Where were you before? • Status of objects (door open?) • What is the temperature like? • …

  9. Focusing on locations Dr. Yin, Jie @ work (HKUST) • Input: • Sensor Readings • Wifi, RFID, Audio, Visual, Temperature • Infrared, Ultrasound, magnetic fields • Power lines [Stuntebeck, Patel, Abowd et al., Ubicomp2008] • … • Localization Models • Output: predicted locations

  10. Location-basedApplications: Indoor • Healthcare at home and in hospitals • Logistics: Cargo Control • Shopping, Security • Digital Wall • Collaboration with NEC China Lab

  11. How to obtain a localization model? • Propagation-model based • Modeling the signal attenuation • Advantages: Less data collection effort • Disadvantages: • Need to know emitter locations • Uncertainty • Machine Learning based • Advantages: • Modeling Uncertainty Better • Benefit from sequential info • Disadvantages: • May require a lot of labeled data • RADAR [Bahl and Padmanabhan, CCC2000]

  12. Using both labeled and unlabeled data in subspace learning • LeMan: Location-estimation w/ Manifolds [J. J. Pan and Yang et al., AAAI2006] • Manifold assumption: similar signals have similar labels • Objective: Minimize the loss over labeled data, whilepropagating labels to unlabeled data

  13. LeMan [J.J. Pan and Yang et al., AAAI2006] • Supervised vs. Semi-Supervised in a 4m x 5m testbed • To achieve the same accuracy under 80cm error distance

  14. Adding sequences: Graphical Model CRF based localization [R. Pan, Zheng, Yang et al., KDD2007] • Conditional Random Fields [Lafferty, McCallum, Pereira, ICML2001] • Undirected graph, a generalization to HMM State =locations Observations = signals

  15. What if the signal data distribution changes? • Signal may vary over devices, time, spaces … • A -> B: the localization error may increase Transfer Learning!

  16. Our work to address the signal variation problems • Transfer Learning • Problem 1: Transfer Across Devices • [Zheng and Yang et al., AAAI2008a] • Problem 2: Transfer Across Time • [Zheng and Yang et al., AAAI2008b] • Problem 3: Transfer Across Spaces • [S. J. Pan and Yang et al., AAAI2008]

  17. Transferring Localization Models Across Devices [Zheng and Yang et al., AAAI2008a] Input: Output: The localization model on the target device CISCO S=(-30dbm, .., -86dbm), L=(1, 3) S=(-33dbm, .., -90dbm), L=(1, 4) … S=(-44dbm, .., -43dbm), L=(9, 10) S=(-56dbm, .., -32dbm), L=(15, 22) S=(-60dbm, .., -29dbm), L=(17, 24) S=(-37dbm, .., -77dbm), L=(1, 3) S=(-41dbm, .., -83dbm), L=(1, 4) … S=(-49dbm, .., -34dbm), L=(9, 10) S=(-61dbm, .., -28dbm), L=(15,22) S=(-66dbm, .., -26dbm), L=(17, 24) Buffalo D-Link S=(-33dbm, .., -82dbm), L=(1, 3) …S=(-57dbm, .., -63dbm), L=(10, 23) Target device has onlyfew labeled data Source devices have plentiful labeled data

  18. Transferring Localization Models Across Devices [Zheng and Yang et al., AAAI2008a] Localization on each wireless adapter is treated as a learning task. Model: Latent Multi-Task Learning [Caruana, MLJ1997] Each device: a learning task • minimize its localization error, and • devices share some common constraints • in a latent space • Regression with signals x to locations y shared

  19. Transferring Localization Models Over Time [Zheng and Yang et al., AAAI2008b] PhD Student Vincent Zheng @ Work Input: The old time period Plentiful labeled sequences: The new time period Some (non-sequential) labeled data + some unlabeled sequences Output: Localization model for the new time period. S=(-30dbm, .., -86dbm), L=(1, 3) S=(-49dbm, .., -41dbm)L=(1, 3) S=(-44dbm, .., -43dbm)L=(9, 10) S=(-60dbm, .., -29dbm)L=(17, 24) S=(-42dbm, .., -77dbm) S=(-33dbm, .., -82dbm), L=(1, 3) …S=(-57dbm, .., -63dbm), L=(10, 23) S=(-71dbm, .., -33dbm) S=(-43dbm, .., -52dbm)

  20. Transferring Localization Models Over Time [Zheng and Yang et al., AAAI2008b] Model: • Transferred Hidden Markov Model Reference points (RPs) Radio map Transition matrix of user moves Prior knowledge on the likelihood of where the user is

  21. B A Access Point Transferring Localization Models Across Space [S. J. Pan and Yang et al., AAAI2008] Input: Output: Localization model for Area B Area B: Few labeled data & Some unlabeled data Area A: Plentiful labeled data (red dots in the picture)

  22. Summary: Localization using Sensors • Research Issues • Optimal Sensor Placement [Krause, Guestrin, Gupta, Kleinberg, IPSN2006] • Integrated Propagation and learning models • Sensor Fusion • Transfer Learning • Location-based social networks • Locations • 2D / 3D Physical Positions • Locations are a type of context • Other contextual Information • Object Context: Nearby objects + usage status • Locations and Context • Where you are • Who’s around you • How long you are there • Status of objects (door open?) • What is the temperature like?

  23. Activity Recognition • Action Model Learning • How do we explicitly model the user’s possible actions? • Activity Recognition • What is the user doing / trying to do? • Localization and context • Where is the user? • What’s around her? • How long/duration? • What time/day? Events

  24. Steps in activity recognition Loc/Context Recognition Action Recognition Goal Recognition • Also, • Plan, Behavior, Intent, Project … sensor sensor sensor sensor

  25. Activity Recognition: Input & Output • Input • Context and locations • Time, history, current/previous locations, duration, speed, • Object Usage Information • Trained AR Model • Training data from calibration • Calibration Tool: VTrack • Output: • Predicted Activity Labels • Running? • Walking? • Tooth brushing? • Having lunch? http://www.cse.ust.hk/~vincentz/Vtrack.html

  26. Activity Recognition: Applications • GPS based Location-based services • Inferring Transportation Modes/Routines • [Liao, Fox, Kautz, AAAI2004] • Unsupervised, bridges the gap between raw GPS and user’s mode of transportation • Can detect when user missed bus stops  offer help • Healthcare for elders • Example: The Autominder System • [Pollack, et al. Robotics and Autonomous Systems, 2003.] • Provide users w/ reminders when they need them • Recognizing Activities with Cell Phones (Video) • Chinese Academy of Sciences (Prof Yiqiang Chen and Dr. Junfa Liu)

  27. Microsoft Research Asia: GeoLife Project [Zheng, Xie, WWW2008] • Inferring Transportation Modes, and • Compute similarity based on itineraries and link people in a social net: GeoLife Video Segment[i].P(Bike) = Segment[i].P(Bike) * P(Bike|Car) Segment[i].P(Walk) = Segment[i].P(Walk) * P(Walk|Car)

  28. Activity Recognition (AR): ADL • ADL = Activities of daily living (ADLs) • From sound to events, in everyday life • [Lu and Choudhury et al., MobiSys2009] • iCare (NTU): Digital home support, early diagnosis of behavior changes • iCare Project at NTU (Hao-hua Chu, Jane Hsu, et al.) http://mll.csie.ntu.edu.tw/icare/index.php • Duration patterns and inherent hierarchical structures • [Duong, Bui et al., AI Journal 2008]

  29. Early Work: Plan Recognition • Objective [Kautz 1987]: • Inferring plans of an agent from (partial) observations of his actions • Input: • Observed Actions (K,L) • Plan Library • Output: • Recognized Goals/Plans

  30. Review: Event Hierarchy in Plan Recognition Abstraction relationship Actions • The Cooking Event Hierarchy [Kautz 1987] • Some works: • [Kautz 1987]: graph inference • [Pynadath and Wellman, UAI2000]: probabilistic CFG • [Geib and Steedman, IJCAI2007]: NLP and PR • [Geib, ICAPS2008]: string rewriting techniques Step 2 of Make Pasta Dish

  31. A Gap?

  32. AR: Sequential Methods • Dynamic Bayesian Networks • [Liao, Fox, Kautz, AAAI2004] [Yin, Chai, Yang, AAAI2004] • Conditional Random Field [Vail and Veloso, AAAI2008] • Relational Markov Network [Liao, Fox, Kautz, NIPS2005]

  33. Intel [Wyatt, Philipose, Choudhury, AAAI2005] : Incorporating Commonsense • Model = Commonsense Knowledge • Work at Intel Seattle Lab / UW • Calculate Object Usage Information from Web Data P(Obj | Action) • Train a customized model • HMM: parameter learning [Wyatt et al. AAAI2005] • Mine model from Web [Perkowitz, Philipose et al. WWW2004]

  34. Datasets: MIT PlaceLab http://architecture.mit.edu/house_n/placelab.html • MIT PlaceLab Dataset (PLIA2) [Intille et al. Pervasive 2005] • Activities: Common household activities

  35. Datasets: Intel Research Lab • Intel Research Lab [Patterson, Fox, Kautz, Philipose, ISWC2005] • Activities Performed: 11 activities • Sensors • RFID Readers & Tags • Length: • 10 mornings Now: Intel has better RFID wristbands. Picture excerpted from [Patterson, Fox, Kautz, Philipose, ISWC2005].

  36. Complex Actions? Reduce Labels? • Complex Actions: • For multiple activitieswith complex relationships[Hu and Yang, AAAI2008] • concurrent and interleaving activities • Label Reduction: • What if we are short of labeled data in a new domain? [Zheng, Hu, Yang, et al. Ubicomp 2009] • Use transfer learning to borrow knowledge from a source domain (where labeled data are abundant) • For recognizing activities • where labeled data are scarce

  37. Interleaving Activities Concurrent and Interleaving Goals [Hu, Yang, AAAI2008] Concurrent Activities

  38. Factors for skip edges Concurrent and Interleaving Goal and Activity Recognition [Hu, Yang, AAAI2008] Use the long-distance dependencies in Skip-Chain Conditional Random Fields to capture the relatedness between interleaving activities. Factors for linear chain edges

  39. Concurrent and Interleaving Goal and Activity Recognition [Hu, Yang, AAAI2008] • Concurrent Goals: • correlation matrix between different goals learned from training data Example: “attending invited talk” and “browsing WWW”.

  40. Cross Domain Activity Recognition [Zheng, Hu, Yang, Ubicomp 2009] CleaningIndoor • Challenges: • A new domain of activities without labeled data • Cross-domain activity recognition • Transfer some available labeled data from source activities to help training the recognizer for the target activities. Laundry Dishwashing

  41. Calculating Activity Similarities • How similar are two activities? • Use Web search results • TFIDF: Traditional IR similarity metrics (cosine similarity) • Example • Mined similarity between the activity “sweeping” and “vacuuming”, “making the bed”, “gardening”

  42. Example: Pseudo Training Data: <SS, “Make Tea”, 0.6> How to use the similarities? Example: sim(“Make Coffee”, “Make Tea”) = 0.6 <Sensor Reading, Activity Name> Example: <SS, “Make Coffee”> Similarity Measure THE WEB Target Domain Pseudo Labeled Data Source Domain Labeled Data Weighted SVM Classifier

  43. Cross-Domain AR: Performance • Activities in the source domain and the target domain are generated from ten random trials, mean accuracies are reported.

  44. How Does AR Impact AI? • Action Model Learning • How do we explicitly model the user’s possible actions? • Activity Recognition • What is the user doing / trying to do? • Localization • Where is the user?

  45. Relationship to Localization and AR • From context •  state description from sensors • From activity recognition •  activity sequences • Learning action models • Motivation: • solve new planning problems • knowledge-engineering effort • for Planning • Can even recognize goals using planning • [Ramirez and Geffner, IJCAI2009]

  46. What is action model learning? • Input: activity sequences • Sequences of labels/objects: • Example: pick-up(b1) , stack(b1,b2)…etc • Initial state, goal, and partial intermediate states • Example: ontable(b1),clear(b1), …etc • Output: Action models • preconditions of actions: • Example: preconditions of “pick-up”: ontable(?x) , handempty, …etc. • effects of actions: • Example: effects of “pick-up”: holding(?x), …etc • TRAIL [Benson, ICML1994]: learns Teleo-operator models (TOP) with domain experts’ help. • EXPO [Gil, ICML1994]: learns action models incrementally by assuming partial action models known. • Probabilistic STRIPS-like models [Pasula et al. ICAPS2004]: learns probabilistic STRIPS-like operators from examples. • SLAF [Amir, AAAI2005]: learns exact action models in partially observable domains.

  47. ARMS [Yang et al. AIJ2007]An overview • what can be in the preconditions/Postcond Sensor states, object usage Activity Sequences Information constraints Build constraints Plan constraints Solved w/ Weighted MAXSAT/MLN Each relation has a weight that can be learned Action models

  48. Evaluation:byStudents @ HKUSTexecute learned actions Lego-Learning-Planning (LLP) System Design Notebook Activity recognition & planning Bluetooth Robot PDA Web Server Robot Status/ Data Internet Control Command

  49. A Lego Planning Domain Relations given by sensors/phy. map • (motor_speed ) • (empty ) • … • (across x-loc y-loc z-loc) Actions Known to the robot • (Move_forw x-loc y-loc z-loc) • … • (Turn_left x-loc y-loc z-loc) • Initial state: • (empty ) (face grid0)… • Goal: • …(holding Ball) • Collection of Activity Sequences (Video 1: robot) (video 2: human)

  50. Activity Sequences • Human manually achieves goal • 0: (MOVE_FORW A B C) • … • 4: (MOVE_FORW D E F) • 5: (MOVE_FORW E F W) • 6: (STOP F) • 7: (PICK_UP F BALL) • … • 10: (STOP D) • 11: (TURN_LEFT D W E) • 12: (PUT_DOWN BALL D) • 13: (PICK_UP D BALL) Activity Recognizer ARMS: Action Model Learning

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