Style-transfer based Speech and Audio-visual Scene Understanding for
  Robot Action Sequence Acquisition from Videos
Chiori Hori Puyuan Peng David Harwath Xinyu Liu Kei Ota Siddarth Jain Radu Corcodel Devesh Jha Diego Romeres Jonathan Le Roux
To realize human-robot collaboration, robots need to execute actions for new
tasks according to human instructions given finite prior knowledge. Human
experts can share their knowledge of how to perform a task with a robot through
multi-modal instructions in their demonstrations, showing a sequence of
short-horizon steps to achieve a long-horizon goal. This paper introduces a
method for robot action sequence generation from instruction videos using (1)
an audio-visual Transformer that converts audio-visual features and instruction
speech to a sequence of robot actions called dynamic movement primitives (DMPs)
and (2) style-transfer-based training that employs multi-task learning with
video captioning and weakly-supervised learning with a semantic classifier to
exploit unpaired video-action data. We built a system that accomplishes various
cooking actions, where an arm robot executes a DMP sequence acquired from a
cooking video using the audio-visual Transformer. Experiments with
Epic-Kitchen-100, YouCookII, QuerYD, and in-house instruction video datasets
show that the proposed method improves the quality of DMP sequences by 2.3
times the METEOR score obtained with a baseline video-to-action Transformer.
The model achieved 32% of the task success rate with the task knowledge of the
object.