StairNet: visual recognition of stairs for human–robot locomotion
Bibliographic record
Abstract
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains, such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical interactions, which can improve transitions to and from stairs. This motivated us to develop the StairNet initiative to support the development of new deep learning models for visual perception of real-world stair environments. In this study, we present a comprehensive overview of the StairNet initiative and key research to date. First, we summarize the development of our large-scale data set with over 515,000 manually labeled images. We then provide a summary and detailed comparison of the performances achieved with different algorithms (i.e., 2D and 3D CNN, hybrid CNN and LSTM, and ViT networks), training methods (i.e., supervised learning with and without temporal data, and semi-supervised learning with unlabeled images), and deployment methods (i.e., mobile and embedded computing), using the StairNet data set. Finally, we discuss the challenges and future directions. To date, our StairNet models have consistently achieved high classification accuracy (i.e., up to 98.8%) with different designs, offering trade-offs between model accuracy and size. When deployed on mobile devices with GPU and NPU accelerators, our deep learning models achieved inference speeds up to 2.8 ms. In comparison, when deployed on our custom-designed CPU-powered smart glasses, our models yielded slower inference speeds of 1.5 s, presenting a trade-off between human-centered design and performance. Overall, the results of numerous experiments presented herein provide consistent evidence that StairNet can be an effective platform to develop and study new deep learning models for visual perception of human-robot walking environments, with an emphasis on stair recognition. This research aims to support the development of next-generation vision-based control systems for robotic prosthetic legs, exoskeletons, and other mobility assistive technologies.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.002 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.007 | 0.005 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".