303 research outputs found
Semantic Mapping Based on Spatial Concepts for Grounding Words Related to Places in Daily Environments
An autonomous robot performing tasks in a human environment needs to recognize semantic information about places. Semantic mapping is a task in which suitable semantic information is assigned to an environmental map so that a robot can communicate with people and appropriately perform tasks requested by its users. We propose a novel statistical semantic mapping method called SpCoMapping, which integrates probabilistic spatial concept acquisition based on multimodal sensor information and a Markov random field applied for learning the arbitrary shape of a place on a map.SpCoMapping can connect multiple words to a place in a semantic mapping process using user utterances without pre-setting the list of place names. We also develop a nonparametric Bayesian extension of SpCoMapping that can automatically estimate an adequate number of categories. In the experiment in the simulation environments, we showed that the proposed method generated better semantic maps than previous semantic mapping methods; our semantic maps have categories and shapes similar to the ground truth provided by the user. In addition, we showed that SpCoMapping could generate appropriate semantic maps in a real-world environment
Double Articulation Analyzer with Prosody for Unsupervised Word and Phoneme Discovery
Infants acquire words and phonemes from unsegmented speech signals using
segmentation cues, such as distributional, prosodic, and co-occurrence cues.
Many pre-existing computational models that represent the process tend to focus
on distributional or prosodic cues. This paper proposes a nonparametric
Bayesian probabilistic generative model called the prosodic hierarchical
Dirichlet process-hidden language model (Prosodic HDP-HLM). Prosodic HDP-HLM,
an extension of HDP-HLM, considers both prosodic and distributional cues within
a single integrative generative model. We conducted three experiments on
different types of datasets, and demonstrate the validity of the proposed
method. The results show that the Prosodic DAA successfully uses prosodic cues
and outperforms a method that solely uses distributional cues. The main
contributions of this study are as follows: 1) We develop a probabilistic
generative model for time series data including prosody that potentially has a
double articulation structure; 2) We propose the Prosodic DAA by deriving the
inference procedure for Prosodic HDP-HLM and show that Prosodic DAA can
discover words directly from continuous human speech signals using statistical
information and prosodic information in an unsupervised manner; 3) We show that
prosodic cues contribute to word segmentation more in naturally distributed
case words, i.e., they follow Zipf's law.Comment: 11 pages, Submitted to IEEE Transactions on Cognitive and
Developmental System
Grounding robot motion in natural language and visual perception
The current state of the art in military and first responder ground robots involves heavy physical and cognitive burdens on the human operator while taking little to no advantage of the potential autonomy of robotic technology. The robots currently in use are rugged remote-controlled vehicles. Their interaction modalities, usually utilizing a game controller connected to a computer, require a dedicated operator who has limited capacity for other tasks.
I present research which aims to ease these burdens by incorporating multiple modes of robotic sensing into a system which allows humans to interact with robots through a natural-language interface. I conduct this research on a custom-built six-wheeled mobile robot.
First I present a unified framework which supports grounding natural-language semantics in robotic driving. This framework supports learning the meanings of nouns and prepositions from sentential descriptions of paths driven by the robot, as well as using such meanings to both generate a sentential description of a path and perform automated driving of a path specified in natural language. One limitation of this framework is that it requires as input the locations of the (initially nameless) objects in the floor plan.
Next I present a method to automatically detect, localize, and label objects in the robot’s environment using only the robot’s video feed and corresponding odometry. This method produces a map of the robot’s environment in which objects are differentiated by abstract class labels.
Finally, I present work that unifies the previous two approaches. This method detects, localizes, and labels objects, as the previous method does. However, this new method integrates natural-language descriptions to learn actual object names, rather than abstract labels
Whole brain Probabilistic Generative Model toward Realizing Cognitive Architecture for Developmental Robots
Building a humanlike integrative artificial cognitive system, that is, an
artificial general intelligence, is one of the goals in artificial intelligence
and developmental robotics. Furthermore, a computational model that enables an
artificial cognitive system to achieve cognitive development will be an
excellent reference for brain and cognitive science. This paper describes the
development of a cognitive architecture using probabilistic generative models
(PGMs) to fully mirror the human cognitive system. The integrative model is
called a whole-brain PGM (WB-PGM). It is both brain-inspired and PGMbased. In
this paper, the process of building the WB-PGM and learning from the human
brain to build cognitive architectures is described.Comment: 55 pages, 8 figures, submitted to Neural Network
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