Unsupervised Human Activity Recognition Learning for Disassembly Tasks

Abstract

Large volumes of used electronics are often collected in remanufacturing plants, which requires disassembly before harvesting parts for reuse. Disassembly is mainly conducted manually with low productivity. Recently, human-robot collaboration is considered as a solution. For robots to assist effectively, they should observe work environments and recognize human actions accurately. Rich activity video recording and supervised learning can be used to extract insights; however, supervised learning does not allow robots to self-accomplish the learning process. This study proposes an unsupervised learning framework for achieving video-based human activity recognition. The framework consists of two main elements: a variational autoencoder-based architecture for unlabeled data representation learning, and a hidden Markov model for activity state division. The complete explicit activity classification is validated against ground truth labels; here, we use a case study of disassembling a hard disk drive. The framework shows an average recognition accuracy of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$91.52\%$</tex-math></inline-formula> , higher than competing methods.