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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Unsupervised Action Localization Crop in Video Retargetin...
Prithwish Jana, Swarnabja Bhaumik, Partha Pratim Mohanta · 2021-11-15 · via cs.RO updates on arXiv.org

Untrimmed videos on social media or those captured by robots and surveillance cameras are of varied aspect ratios. However, 3D CNNs usually require as input a square-shaped video, whose spatial dimension is smaller than the original. Random- or center-cropping may leave out the video's subject altogether. To address this, we propose an unsupervised video cropping approach by shaping this as a retargeting and video-to-video synthesis problem. The synthesized video maintains a 1:1 aspect ratio, is smaller in size and is targeted at video-subject(s) throughout the entire duration. First, action localization is performed on each frame by identifying patches with homogeneous motion patterns. Thus, a single salient patch is pinpointed per frame. But to avoid viewpoint jitters and flickering, any inter-frame scale or position changes among the patches should be performed gradually over time. This issue is addressed with a polyBezier fitting in 3D space that passes through some chosen pivot timestamps and whose shape is influenced by the in-between control timestamps. To corroborate the effectiveness of the proposed method, we evaluate the video classification task by comparing our dynamic cropping technique with random cropping on three benchmark datasets, viz. UCF-101, HMDB-51 and ActivityNet v1.3. The clip and top-1 accuracy for video classification after our cropping, outperform 3D CNN performances for same-sized random-crop inputs, also surpassing some larger random-crop sizes.