11,674 research outputs found
Speech Development by Imitation
The Double Cone Model (DCM) is a model
of how the brain transforms sensory input to
motor commands through successive stages of
data compression and expansion. We have
tested a subset of the DCM on speech recognition, production and imitation. The experiments show that the DCM is a good candidate
for an artificial speech processing system that
can develop autonomously. We show that the
DCM can learn a repertoire of speech sounds
by listening to speech input. It is also able to
link the individual elements of speech to sequences that can be recognized or reproduced,
thus allowing the system to imitate spoken
language
Lifelong Learning of Spatiotemporal Representations with Dual-Memory Recurrent Self-Organization
Artificial autonomous agents and robots interacting in complex environments
are required to continually acquire and fine-tune knowledge over sustained
periods of time. The ability to learn from continuous streams of information is
referred to as lifelong learning and represents a long-standing challenge for
neural network models due to catastrophic forgetting. Computational models of
lifelong learning typically alleviate catastrophic forgetting in experimental
scenarios with given datasets of static images and limited complexity, thereby
differing significantly from the conditions artificial agents are exposed to.
In more natural settings, sequential information may become progressively
available over time and access to previous experience may be restricted. In
this paper, we propose a dual-memory self-organizing architecture for lifelong
learning scenarios. The architecture comprises two growing recurrent networks
with the complementary tasks of learning object instances (episodic memory) and
categories (semantic memory). Both growing networks can expand in response to
novel sensory experience: the episodic memory learns fine-grained
spatiotemporal representations of object instances in an unsupervised fashion
while the semantic memory uses task-relevant signals to regulate structural
plasticity levels and develop more compact representations from episodic
experience. For the consolidation of knowledge in the absence of external
sensory input, the episodic memory periodically replays trajectories of neural
reactivations. We evaluate the proposed model on the CORe50 benchmark dataset
for continuous object recognition, showing that we significantly outperform
current methods of lifelong learning in three different incremental learning
scenario
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
Finding groups in data: Cluster analysis with ants
Wepresent in this paper a modification of Lumer and Faietaās algorithm for data clustering. This approach
mimics the clustering behavior observed in real ant colonies. This algorithm discovers automatically
clusters in numerical data without prior knowledge of possible number of clusters. In this paper we focus
on ant-based clustering algorithms, a particular kind of a swarm intelligent system, and on the effects on
the final clustering by using during the classification differentmetrics of dissimilarity: Euclidean, Cosine,
and Gower measures. Clustering with swarm-based algorithms is emerging as an alternative to more
conventional clustering methods, such as e.g. k-means, etc. Among the many bio-inspired techniques, ant
clustering algorithms have received special attention, especially because they still require much
investigation to improve performance, stability and other key features that would make such algorithms
mature tools for data mining.
As a case study, this paper focus on the behavior of clustering procedures in those new approaches.
The proposed algorithm and its modifications are evaluated in a number of well-known benchmark
datasets. Empirical results clearly show that ant-based clustering algorithms performs well when
compared to another techniques
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