In this paper, we propose an active perception method for recognizing object categories based on the multimodal hierarchical Dirichlet process (MHDP). The MHDP enables a robot to form object categories using multimodal information, e.g., visual, auditory, and haptic information, which can be observed by performing actions on an object. However, performing many actions on a target object requires a long time. In a real-time scenario, i.e., when the time is limited, the robot has to determine the set of actions that is most effective for recognizing a target object. We propose an MHDP-based active perception method that uses the information gain (IG) maximization criterion and lazy greedy algorithm. We show that the IG maximization criterion is optimal in the sense that the criterion is equivalent to a minimization of the expected Kullback--Leibler divergence between a final recognition state and the recognition state after the next set of actions. However, a straightforward calculation of IG is practically impossible. Therefore, we derive an efficient Monte Carlo approximation method for IG by making use of a property of the MHDP. We also show that the IG has submodular and non-decreasing properties as a set function because of the structure of the graphical model of the MHDP. Therefore, the IG maximization problem is reduced to a submodular maximization problem. This means that greedy and lazy greedy algorithms are effective and have a theoretical justification for their performance. We conducted an experiment using an upper-torso humanoid robot and a second one using synthetic data. The experimental results show that the method enables the robot to select a set of actions that allow it to recognize target objects quickly and accurately. The results support our theoretical outcomes.
Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation
Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院）；School of Psychological and Cognitive Sciences, Peking University（北京大学心理与认知科学学院）；Beijing Key Lab of Behavior and Mental Health, Peking University（北京大学行为与心理健康北京市重点实验室）；Beijing Institute for General Artificial Intelligence（北京一般人工智能研究院）；State Key Lab for General Artificial Intelligence（一般人工智能国家重点实验室）；Embodied Intelligence Lab, PKU-Wuhan Institute for Artificial Intelligence（具身智能实验室，北京大学武汉人工智能研究院）；Department of Computer Science and Technology, University of Cambridge（剑桥大学计算机科学与技术系）
RoboMP$^2$: A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models
School of Computer Science and Technology, Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳）计算机科学与技术学院）；School of Engineering, Great Bay University（大湾区大学工程学院）；School of Computing and Information Technology, Great Bay University（大湾区大学计算与信息技术学院）
A General One-Shot Multimodal Active Perception Framework for Robotic Manipulation: Learning to Predict Optimal Viewpoint
Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University（机器人与自动信息系统研究所，人工智能学院，南开大学）；Tianjin Key Laboratory of Intelligent Robotics, Nankai University（智能机器人重点实验室，南开大学）；College of Artificial Intelligence, Nankai University（人工智能学院，南开大学）；Department of Computing, The Hong Kong Polytechnic University（computing 部门，香港理工大学）
Real-time Vehicle-to-Vehicle Communication Based Network Cooperative Control System through Distributed Database and Multimodal Perception: Demonstrated in Crossroads
Zhejiang University（浙江大学）；University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；University of Michigan（密歇根大学）
Study of Emotion Concept Formation by Integrating Vision, Physiology, and Word Information using Multilayered Multimodal Latent Dirichlet Allocation
Graduate School of Engineering Science, Osaka University（大阪大学工程科学研究生院）；Graduate School of Science and Technology, Nara Institute of Science and Technology（奈良科学技术大学院大学科学技术研究生院）
YOLO with Kolmogorov-Arnold networks and vision-language foundation models for interpretable object detection with trustworthy multimodal AI in computer vision perception
University of Bath（巴斯大学）；Zhejiang University（浙江大学）
DriveSOTIF: Advancing Perception SOTIF Through Multimodal Large Language Models
MVSLab, Department of Mechanical and Mechatronics Engineering, University of Waterloo（滑铁卢大学机械与机电工程系MVSLab）；CompLING Lab, David R. Cheriton School of Computer Science, University of Waterloo（滑铁卢大学大卫·R·切里顿计算机科学学院CompLING Lab）；Department of Data and Systems Engineering, University of Hong Kong（香港大学数据与系统工程系）；Department of Mechanical Engineering, University of New Brunswick（新不伦瑞克大学机械工程系）；School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动性学院）
