1,136 research outputs found
Incremental Learning for Robot Perception through HRI
Scene understanding and object recognition is a difficult to achieve yet
crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have
shown success in this task. However, there is still a gap between their
performance on image datasets and real-world robotics scenarios. We present a
novel paradigm for incrementally improving a robot's visual perception through
active human interaction. In this paradigm, the user introduces novel objects
to the robot by means of pointing and voice commands. Given this information,
the robot visually explores the object and adds images from it to re-train the
perception module. Our base perception module is based on recent development in
object detection and recognition using deep learning. Our method leverages
state of the art CNNs from off-line batch learning, human guidance, robot
exploration and incremental on-line learning
Alternative model-building for the study of socially interactive robots
In this discussion paper, we consider the potential merits of applying an alternative approach to model building (Empirical Modelling, also known as EM) in studying social aspects of human-robot interaction (HRI). The first section of the paper considers issues in modelling for HRI. The second introduces EM principles, outlining their potential application to modelling for HRI and its implications. The final section examines the prospects for applying EM to HRI from a practical perspective with reference to a simple case study and to existing models
Crossmodal content binding in information-processing architectures
Operating in a physical context, an intelligent robot faces two fundamental problems. First, it needs to combine information from its different sensors to form a representation of the environment that is more complete than any of its sensors on its own could provide. Second, it needs to combine high-level representations (such as those for planning and dialogue) with its sensory information, to ensure that the interpretations of these symbolic representations are grounded in the situated context. Previous approaches to this problem have used techniques such as (low-level) information fusion, ontological reasoning, and (high-level) concept learning. This paper presents a framework in which these, and other approaches, can be combined to form a shared representation of the current state of the robot in relation to its environment and other agents. Preliminary results from an implemented system are presented to illustrate how the framework supports behaviours commonly required of an intelligent robot
Learning to Generate Unambiguous Spatial Referring Expressions for Real-World Environments
Referring to objects in a natural and unambiguous manner is crucial for
effective human-robot interaction. Previous research on learning-based
referring expressions has focused primarily on comprehension tasks, while
generating referring expressions is still mostly limited to rule-based methods.
In this work, we propose a two-stage approach that relies on deep learning for
estimating spatial relations to describe an object naturally and unambiguously
with a referring expression. We compare our method to the state of the art
algorithm in ambiguous environments (e.g., environments that include very
similar objects with similar relationships). We show that our method generates
referring expressions that people find to be more accurate (30% better)
and would prefer to use (32% more often).Comment: International Conference on Intelligent Robots and Systems (IROS
2019), Demo 1: Finding the described object (https://youtu.be/BE6-F6chW0w),
Demo 2: Referring to the pointed object (https://youtu.be/nmmv6JUpy8M),
Supplementary Video (https://youtu.be/sFjBa_MHS98
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