School of Computer Science and Engineering, Southeast University, Nanjing 210096, China（东南大学计算机科学与工程学院）；Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications (Southeast University), Ministry of Education, China（新一代人工智能技术及交叉应用关键实验室（东南大学））；School of Cyber Science and Engineering, Southeast University, Nanjing 210096, China（东南大学网络科学与工程学院）；Engineering Research Center of Blockchain Application, Supervision And Management (Southeast University), Ministry of Education, China（区块链应用、监督与管理工程研究中心（东南大学））；Purple Mountain Laboratories, Nanjing 210000, China（紫金山实验室）
Skeleton-based human action recognition has received widespread attention in recent years due to its diverse range of application scenarios. Due to the different sources of human skeletons, skeleton data naturally exhibit heterogeneity. The previous works, however, overlook the heterogeneity of human skeletons and solely construct models tailored for homogeneous skeletons. This work addresses the challenge of heterogeneous skeleton-based action representation learning, specifically focusing on processing skeleton data that varies in joint dimensions and topological structures. The proposed framework comprises two primary components: heterogeneous skeleton processing and unified representation learning. The former first converts two-dimensional skeleton data into three-dimensional skeleton via an auxiliary network, and then constructs a prompted unified skeleton using skeleton-specific prompts. We also design an additional modality named semantic motion encoding to harness the semantic information within skeletons. The latter module learns a unified action representation using a shared backbone network that processes different heterogeneous skeletons. Extensive experiments on the NTU-60, NTU-120, and PKU-MMD II datasets demonstrate the effectiveness of our method in various tasks of action understanding. Our approach can be applied to action recognition in robots with different humanoid structures.
Toward Universal Skeleton-Based Action Recognition across Heterogeneous Skeletons and Open Vocabularies
School of Cyber Science and Engineering, Southeast University, Nanjing, China（东南大学计算机科学与工程学院，南京，中国）；School of Computer Science and Engineering, Southeast University, Nanjing, China（东南大学计算机科学与工程学院，南京，中国）
Nanyang Technological University（南洋理工大学）；Singapore University of Technology and Design（新加坡科技设计大学）
Skeleton-based human action recognition has attracted increasing attention in recent years. However, most of the existing works focus on supervised learning which requiring a large number of annotated action sequences that are often expensive to collect. We investigate unsupervised representation learning for skeleton action recognition, and design a novel skeleton cloud colorization technique that is capable of learning skeleton representations from unlabeled skeleton sequence data. Specifically, we represent a skeleton action sequence as a 3D skeleton cloud and colorize each point in the clo…
Deep learning models achieve impressive performance for skeleton-based human action recognition. However, the robustness of these models to adversarial attacks remains largely unexplored due to their complex spatio-temporal nature that must represent sparse and discrete skeleton joints. This work presents the first adversarial attack on skeleton-based action recognition with graph convolutional networks. The proposed targeted attack, termed Constrained Iterative Attack for Skeleton Actions (CIASA), perturbs joint locations in an action sequence such that the resulting adversarial sequence pres…
This paper strives for self-supervised learning of a feature space suitable for skeleton-based action recognition. Our proposal is built upon learning invariances to input skeleton representations and various skeleton augmentations via a noise contrastive estimation. In particular, we propose inter-skeleton contrastive learning, which learns from multiple different input skeleton representations in a cross-contrastive manner. In addition, we contribute several skeleton-specific spatial and temporal augmentations which further encourage the model to learn the spatio-temporal dynamics of skeleto…
Army Engineering University（陆军工程大学）；The Army Artillery and Defense Academy of PLA（中国人民解放军陆军炮兵防空兵学院）
Human skeleton data has received increasing attention in action recognition due to its background robustness and high efficiency. In skeleton-based action recognition, graph convolutional network (GCN) has become the mainstream method. This paper analyzes the fundamental factor for GCN-based models -- the adjacency matrix. We notice that most GCN-based methods conduct their adjacency matrix based on the human natural skeleton structure. Based on our former work and analysis, we propose that the human natural skeleton structure adjacency matrix is not proper for skeleton-based action recognitio…
Current state-of-the-art approaches to skeleton-based action recognition are mostly based on recurrent neural networks (RNN). In this paper, we propose a novel convolutional neural networks (CNN) based framework for both action classification and detection. Raw skeleton coordinates as well as skeleton motion are fed directly into CNN for label prediction. A novel skeleton transformer module is designed to rearrange and select important skeleton joints automatically. With a simple 7-layer network, we obtain 89.3% accuracy on validation set of the NTU RGB+D dataset. For action detection in untri…
Inria（法国国家信息与自动化研究所）；Toyota Motor Europe（丰田汽车欧洲公司）；Shanghai AI Laboratory（上海人工智能实验室）
Current self-supervised approaches for skeleton action representation learning often focus on constrained scenarios, where videos and skeleton data are recorded in laboratory settings. When dealing with estimated skeleton data in real-world videos, such methods perform poorly due to the large variations across subjects and camera viewpoints. To address this issue, we introduce ViA, a novel View-Invariant Autoencoder for self-supervised skeleton action representation learning. ViA leverages motion retargeting between different human performers as a pretext task, in order to disentangle the late…
Graph convolutional networks (GCNs) based methods have achieved advanced performance on skeleton-based action recognition task. However, the skeleton graph cannot fully represent the motion information contained in skeleton data. In addition, the topology of the skeleton graph in the GCN-based methods is manually set according to natural connections, and it is fixed for all samples, which cannot well adapt to different situations. In this work, we propose a novel dynamic hypergraph convolutional networks (DHGCN) for skeleton-based action recognition. DHGCN uses hypergraph to represent the skel…
The Chinese University of HongKong（香港中文大学）；Shanghai AI Laboratory（上海人工智能实验室）
We present PYSKL: an open-source toolbox for skeleton-based action recognition based on PyTorch. The toolbox supports a wide variety of skeleton action recognition algorithms, including approaches based on GCN and CNN. In contrast to existing open-source skeleton action recognition projects that include only one or two algorithms, PYSKL implements six different algorithms under a unified framework with both the latest and original good practices to ease the comparison of efficacy and efficiency. We also provide an original GCN-based skeleton action recognition model named ST-GCN++, which achie…
Tianjin University（天津大学）；Key Research Center for Surface Monitoring and Analysis of Cultural Relics (SMARC), State Administration of Cultural Heritage, China（中国国家文物局文物表面监测与分析重点研究中心）；University of South Carolina（南卡罗来纳大学）
Skeleton-based human action recognition has been drawing more interest recently due to its low sensitivity to appearance changes and the accessibility of more skeleton data. However, even the 3D skeletons captured in practice are still sensitive to the viewpoint and direction gave the occlusion of different human-body joints and the errors in human joint localization. Such view variance of skeleton data may significantly affect the performance of action recognition. To address this issue, we propose in this paper a new view-invariant representation learning approach, without any manual action …
The University of Western Australia（西澳大利亚大学）；Murdoch University（莫道克大学）
This paper presents a new method for 3D action recognition with skeleton sequences (i.e., 3D trajectories of human skeleton joints). The proposed method first transforms each skeleton sequence into three clips each consisting of several frames for spatial temporal feature learning using deep neural networks. Each clip is generated from one channel of the cylindrical coordinates of the skeleton sequence. Each frame of the generated clips represents the temporal information of the entire skeleton sequence, and incorporates one particular spatial relationship between the joints. The entire clips …
SmartMore Corporation（思谋科技）；The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳））；South China University of Technology（华南理工大学）
Skeleton-based action recognition has attracted research attentions in recent years. One common drawback in currently popular skeleton-based human action recognition methods is that the sparse skeleton information alone is not sufficient to fully characterize human motion. This limitation makes several existing methods incapable of correctly classifying action categories which exhibit only subtle motion differences. In this paper, we propose a novel framework for employing human pose skeleton and joint-centered light-weight information jointly in a two-stream graph convolutional network, namel…
This paper investigates body bones from skeleton data for skeleton based action recognition. Body joints, as the direct result of mature pose estimation technologies, are always the key concerns of traditional action recognition methods. However, instead of joints, we humans naturally identify how the human body moves according to shapes, lengths and places of bones, which are more obvious and stable for observation. Hence given graphs generated from skeleton data, we propose to develop convolutions over graph edges that correspond to bones in human skeleton. We describe an edge by integrating…
Nara Institute of Science Technology（奈良先端科学技术大学院大学）；RIKEN AIP（理化学研究所先进工业科学与技术研究院）；Kyoto University（京都大学）
Although skeleton-based action recognition has achieved great success in recent years, most of the existing methods may suffer from a large model size and slow execution speed. To alleviate this issue, we analyze skeleton sequence properties to propose a Double-feature Double-motion Network (DD-Net) for skeleton-based action recognition. By using a lightweight network structure (i.e., 0.15 million parameters), DD-Net can reach a super fast speed, as 3,500 FPS on one GPU, or, 2,000 FPS on one CPU. By employing robust features, DD-Net achieves the state-of-the-art performance on our experimental…
Center for Research on Intelligent Perception and Computing, CASIA（中国科学院自动化研究所智能感知与计算研究中心）；National Laboratory of Pattern Recognition, CASIA（中国科学院自动化研究所模式识别国家重点实验室）；CAS Center for Excellence in Brain Science and Intelligence Technology（中国科学院脑科学与智能技术卓越创新中心）；University of Chinese Academy of Sciences（中国科学院大学）
With the fast development of effective and low-cost human skeleton capture systems, skeleton-based action recognition has attracted much attention recently. Most existing methods use Convolutional Neural Network (CNN) and Recurrent Neural Network (RNN) to extract spatio-temporal information embedded in the skeleton sequences for action recognition. However, these approaches are limited in the ability of relational modeling in a single skeleton, due to the loss of important structural information when converting the raw skeleton data to adapt to the input format of CNN or RNN. In this paper, we…
Dynamics of human body skeletons convey significant information for human action recognition. Conventional approaches for modeling skeletons usually rely on hand-crafted parts or traversal rules, thus resulting in limited expressive power and difficulties of generalization. In this work, we propose a novel model of dynamic skeletons called Spatial-Temporal Graph Convolutional Networks (ST-GCN), which moves beyond the limitations of previous methods by automatically learning both the spatial and temporal patterns from data. This formulation not only leads to greater expressive power but also st…
The Chinese University of HongKong（香港中文大学）；Shanghai AI Laboratory（上海人工智能实验室）；The University of Texas at Austin（德克萨斯大学奥斯汀分校）；SenseTime Research（商汤科技研究院）；Nanyang Technological University（南洋理工大学）
Human skeleton, as a compact representation of human action, has received increasing attention in recent years. Many skeleton-based action recognition methods adopt graph convolutional networks (GCN) to extract features on top of human skeletons. Despite the positive results shown in previous works, GCN-based methods are subject to limitations in robustness, interoperability, and scalability. In this work, we propose PoseC3D, a new approach to skeleton-based action recognition, which relies on a 3D heatmap stack instead of a graph sequence as the base representation of human skeletons. Compare…
Australia Artificial Intelligence Institute（澳大利亚人工智能研究所）；School of Electrical and Data Engineering（电气与数据工程学院）；University of Technology Sydney（悉尼科技大学）
Existing 3D skeleton-based action recognition approaches reach impressive performance by encoding handcrafted action features to image format and decoding by CNNs. However, such methods are limited in two ways: a) the handcrafted action features are difficult to handle challenging actions, and b) they generally require complex CNN models to improve action recognition accuracy, which usually occur heavy computational burden. To overcome these limitations, we introduce a novel AFE-CNN, which devotes to enhance the features of 3D skeleton-based actions to adapt to challenging actions. We propose …
There exist a wide range of intra class variations of the same actions and inter class similarity among the actions, at the same time, which makes the action recognition in videos very challenging. In this paper, we present a novel skeleton-based part-wise Spatiotemporal CNN RIAC Network-based 3D human action recognition framework to visualise the action dynamics in part wise manner and utilise each part for action recognition by applying weighted late fusion mechanism. Part wise skeleton based motion dynamics helps to highlight local features of the skeleton which is performed by partitioning…
Advanced Multimedia Research Lab, University of Wollongong（卧龙岗大学高级多媒体研究实验室）
Deep learning techniques are being used in skeleton based action recognition tasks and outstanding performance has been reported. Compared with RNN based methods which tend to overemphasize temporal information, CNN-based approaches can jointly capture spatio-temporal information from texture color images encoded from skeleton sequences. There are several skeleton-based features that have proven effective in RNN-based and handcrafted-feature-based methods. However, it remains unknown whether they are suitable for CNN-based approaches. This paper proposes to encode five spatial skeleton feature…
Microsoft Research Asia（微软亚洲研究院）；National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所模式识别国家重点实验室）
Skeleton-based human action recognition has recently attracted increasing attention due to the popularity of 3D skeleton data. One main challenge lies in the large view variations in captured human actions. We propose a novel view adaptation scheme to automatically regulate observation viewpoints during the occurrence of an action. Rather than re-positioning the skeletons based on a human defined prior criterion, we design a view adaptive recurrent neural network (RNN) with LSTM architecture, which enables the network itself to adapt to the most suitable observation viewpoints from end to end.…
Graph convolutional networks (GCNs) have been very successful in modeling non-Euclidean data structures, like sequences of body skeletons forming actions modeled as spatio-temporal graphs. Most GCN-based action recognition methods use deep feed-forward networks with high computational complexity to process all skeletons in an action. This leads to a high number of floating point operations (ranging from 16G to 100G FLOPs) to process a single sample, making their adoption in restricted computation application scenarios infeasible. In this paper, we propose a temporal attention module (TAM) for …
Skeleton-based action recognition relies on the extraction of spatial-temporal topological information. Hypergraphs can establish prior unnatural dependencies for the skeleton. However, the existing methods only focus on the construction of spatial topology and ignore the time-point dependence. This paper proposes a dynamic spatial-temporal hypergraph convolutional network (DST-HCN) to capture spatial-temporal information for skeleton-based action recognition. DST-HCN introduces a time-point hypergraph (TPH) to learn relationships at time points. With multiple spatial static hypergraphs and dy…
The Chinese University of Hong Kong（香港中文大学）；Shanghai AI Lab（上海人工智能实验室）
Graph convolution networks (GCN) have been widely used in skeleton-based action recognition. We note that existing GCN-based approaches primarily rely on prescribed graphical structures (ie., a manually defined topology of skeleton joints), which limits their flexibility to capture complicated correlations between joints. To move beyond this limitation, we propose a new framework for skeleton-based action recognition, namely Dynamic Group Spatio-Temporal GCN (DG-STGCN). It consists of two modules, DG-GCN and DG-TCN, respectively, for spatial and temporal modeling. In particular, DG-GCN uses le…
Wangxuan Institute of Computer Technology, Peking University（北京大学王选计算机研究所）
The self-supervised pretraining paradigm has achieved great success in skeleton-based action recognition. However, these methods treat the motion and static parts equally, and lack an adaptive design for different parts, which has a negative impact on the accuracy of action recognition. To realize the adaptive action modeling of both parts, we propose an Actionlet-Dependent Contrastive Learning method (ActCLR). The actionlet, defined as the discriminative subset of the human skeleton, effectively decomposes motion regions for better action modeling. In detail, by contrasting with the static an…
Action recognition via 3D skeleton data is an emerging important topic in these years. Most existing methods either extract hand-crafted descriptors or learn action representations by supervised learning paradigms that require massive labeled data. In this paper, we for the first time propose a contrastive action learning paradigm named AS-CAL that can leverage different augmentations of unlabeled skeleton data to learn action representations in an unsupervised manner. Specifically, we first propose to contrast similarity between augmented instances (query and key) of the input skeleton sequen…
Alibaba DAMO Academy（阿里巴巴达摩院）；University of Wollongong（伍伦贡大学）
This paper presents a study of automatic design of neural network architectures for skeleton-based action recognition. Specifically, we encode a skeleton-based action instance into a tensor and carefully define a set of operations to build two types of network cells: normal cells and reduction cells. The recently developed DARTS (Differentiable Architecture Search) is adopted to search for an effective network architecture that is built upon the two types of cells. All operations are 2D based in order to reduce the overall computation and search space. Experiments on the challenging NTU RGB+D …
Skeleton-based action recognition receives increasing attention because the skeleton representations reduce the amount of training data by eliminating visual information irrelevant to actions. To further improve the sample efficiency, meta-learning-based one-shot learning solutions were developed for skeleton-based action recognition. These methods find the nearest neighbor according to the similarity between instance-level global average embedding. However, such measurement holds unstable representativity due to inadequate generalized learning on local invariant and noisy features, while intu…
Shanghai Jiao Tong University（上海交通大学）；Microsoft Research Asia（微软亚洲研究院）
Skeleton data carries valuable motion information and is widely explored in human action recognition. However, not only the motion information but also the interaction with the environment provides discriminative cues to recognize the action of persons. In this paper, we propose a joint learning framework for mutually assisted "interacted object localization" and "human action recognition" based on skeleton data. The two tasks are serialized together and collaborate to promote each other, where preliminary action type derived from skeleton alone helps improve interacted object localization, wh…
University of Adelaide（阿德莱德大学）；Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）
The introduction of low-cost RGB-D sensors has promoted the research in skeleton-based human action recognition. Devising a representation suitable for characterising actions on the basis of noisy skeleton sequences remains a challenge, however. We here provide two insights into this challenge. First, we show that the discriminative information of a skeleton sequence usually resides in a short temporal interval and we propose a simple-but-effective local descriptor called trajectorylet to capture the static and kinematic information within this interval. Second, we further propose to encode ea…
This paper presents an image classification based approach for skeleton-based video action recognition problem. Firstly, A dataset independent translation-scale invariant image mapping method is proposed, which transformes the skeleton videos to colour images, named skeleton-images. Secondly, A multi-scale deep convolutional neural network (CNN) architecture is proposed which could be built and fine-tuned on the powerful pre-trained CNNs, e.g., AlexNet, VGGNet, ResNet etal.. Even though the skeleton-images are very different from natural images, the fine-tune strategy still works well. At last…
Inria（法国国家信息与自动化研究所）；Université Côte d’Azur（蔚蓝海岸大学）；Toyota Motor Europe（丰田汽车欧洲公司）
Action recognition based on skeleton data has recently witnessed increasing attention and progress. State-of-the-art approaches adopting Graph Convolutional networks (GCNs) can effectively extract features on human skeletons relying on the pre-defined human topology. Despite associated progress, GCN-based methods have difficulties to generalize across domains, especially with different human topological structures. In this context, we introduce UNIK, a novel skeleton-based action recognition method that is not only effective to learn spatio-temporal features on human skeleton sequences but als…
University of Chinese Academy of Sciences（中国科学院大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
Current methods for skeleton-based human action recognition usually work with completely observed skeletons. However, in real scenarios, it is prone to capture incomplete and noisy skeletons, which will deteriorate the performance of traditional models. To enhance the robustness of action recognition models to incomplete skeletons, we propose a multi-stream graph convolutional network (GCN) for exploring sufficient discriminative features distributed over all skeleton joints. Here, each stream of the network is only responsible for learning features from currently unactivated joints, which are…
College of Computer Science and Technology, Zhejiang Gongshang University（浙江工商大学计算机科学与技术学院）；Zhejiang Key Lab of E-Commerce（浙江省电子商务重点实验室）
This paper targets unsupervised skeleton-based action representation learning and proposes a new Hierarchical Contrast (HiCo) framework. Different from the existing contrastive-based solutions that typically represent an input skeleton sequence into instance-level features and perform contrast holistically, our proposed HiCo represents the input into multiple-level features and performs contrast in a hierarchical manner. Specifically, given a human skeleton sequence, we represent it into multiple feature vectors of different granularities from both temporal and spatial domains via sequence-to-…
Self-supervised skeleton-based action recognition with contrastive learning has attracted much attention. Recent literature shows that data augmentation and large sets of contrastive pairs are crucial in learning such representations. In this paper, we found that directly extending contrastive pairs based on normal augmentations brings limited returns in terms of performance, because the contribution of contrastive pairs from the normal data augmentation to the loss get smaller as training progresses. Therefore, we delve into hard contrastive pairs for contrastive learning. Motivated by the su…
Talan（Talan公司）；Centrale Lille（里尔中央理工学院）；CNRS（法国国家科学研究中心）；EFREI PARIS（巴黎法国电子与计算机信息学院）；The Ohio State University（俄亥俄州立大学）
Deep Learning architectures, albeit successful in most computer vision tasks, were designed for data with an underlying Euclidean structure, which is not usually fulfilled since pre-processed data may lie on a non-linear space. In this paper, we propose a geometry aware deep learning approach for skeleton-based action recognition. Skeleton sequences are first modeled as trajectories on Kendall's shape space and then mapped to the linear tangent space. The resulting structured data are then fed to a deep learning architecture, which includes a layer that optimizes over rigid and non rigid trans…
Human action recognition in 3D skeleton sequences has attracted a lot of research attention. Recently, Long Short-Term Memory (LSTM) networks have shown promising performance in this task due to their strengths in modeling the dependencies and dynamics in sequential data. As not all skeletal joints are informative for action recognition, and the irrelevant joints often bring noise which can degrade the performance, we need to pay more attention to the informative ones. However, the original LSTM network does not have explicit attention ability. In this paper, we propose a new class of LSTM net…
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；CAS Center for Excellence in Brain Science and Intelligence Technology（中国科学院脑科学与智能技术卓越创新中心）
Skeleton data, which consists of only the 2D/3D coordinates of the human joints, has been widely studied for human action recognition. Existing methods take the semantics as prior knowledge to group human joints and draw correlations according to their spatial locations, which we call the semantic perspective for skeleton modeling. In this paper, in contrast to previous approaches, we propose to model skeletons from a novel spatial perspective, from which the model takes the spatial location as prior knowledge to group human joints and mines the discriminative patterns of local areas in a hier…
