Xi Wang

Xi Wang, Ramya Penta, Bhavya Sehgal et al.

Falls have become more frequent in recent years, which has been harmful for senior citizens.Therefore detecting falls have become important and several data sets and machine learning model have been introduced related to fall detection. In this project report, a human fall detection method is proposed using a multi modality approach. We used the UP-FALL detection data set which is collected by dozens of volunteers using different sensors and two cameras. We use wrist sensor with acclerometer data keeping labels to binary classification, namely fall and no fall from the data set.We used fusion of camera and sensor data to increase performance. The experimental results shows that using only wrist data as compared to multi sensor for binary classification did not impact the model prediction performance for fall detection.

Alexey Gavryushin, Xi Wang, Robert J. S. Malate et al. · eth-zurich, mit

Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects, especially those that require fine-grained dexterous control. Such complex, dexterous skills with precise controls are crucial for many robotic manipulation tasks, yet are often insufficiently addressed by traditional data-driven approaches to robotic manipulation. To address this gap, we leverage manipulation priors learned from large-scale egocentric video datasets to improve policy learning for dexterous robotic manipulation tasks. We present MAPLE, a novel method for dexterous robotic manipulation that exploits rich manipulation priors to enable efficient policy learning and better performance on diverse, complex manipulation tasks. Specifically, we predict hand-object contact points and detailed hand poses at the moment of hand-object contact and use the learned features to train policies for downstream manipulation tasks. Experimental results demonstrate the effectiveness of MAPLE across existing simulation benchmarks, as well as a newly designed set of challenging simulation tasks, which require fine-grained object control and complex dexterous skills. The benefits of MAPLE are further highlighted in real-world experiments using a dexterous robotic hand, whereas simultaneous evaluation across both simulation and real-world experiments has remained underexplored in prior work.

Jingda Guo, Dominic Carrillo, Sihai Tang et al.

To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant improvement, especially for objects that are far away or occluded. To address this critical issue for the safety of autonomous vehicles and human beings, we propose a cooperative spatial feature fusion (CoFF) method for autonomous vehicles to effectively fuse feature maps for achieving a higher 3D object detection performance. Specially, CoFF differentiates weights among feature maps for a more guided fusion, based on how much new semantic information is provided by the received feature maps. It also enhances the inconspicuous features corresponding to far/occluded objects to improve their detection precision. Experimental results show that CoFF achieves a significant improvement in terms of both detection precision and effective detection range for autonomous vehicles, compared to previous feature fusion solutions.