We present a vision-based activity recognition system for centrally connected humanoid robots. The robots interact with several human participants who have varying behavioral styles and inter-activity-variability. A cloud server provides and updates the recognition model in all robots. The server continuously fetches the new activity videos recorded by the robots. It also fetches corresponding results and ground-truths provided by the human interacting with the robot. A decision on when to retrain the recognition model is made by an evolving performance-based logic. In the current article, we present the aforementioned adaptive recognition system with special emphasis on the partitioning logic employed for the division of new videos in training, cross-validation, and test groups of the next retraining instance. The distinct operating logic is based on class-wise recognition inaccuracies of the existing model. We compare this approach to a probabilistic partitioning approach in which the videos are partitioned with no performance considerations.
CITATION STYLE
Nagrath, V., Hariz, M., & Yacoubi, M. A. E. (2021). Adaptive Retraining of Visual Recognition-Model in Human Activity Recognition by Collaborative Humanoid Robots. In Advances in Intelligent Systems and Computing (Vol. 1251 AISC, pp. 124–143). Springer. https://doi.org/10.1007/978-3-030-55187-2_12
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