NDLI: Improving object learning through manipulation and robot self-identification

Content Provider	IEEE Xplore Digital Library
Author	Lyubova, N. Filliat, D. Ivaldi, S.
Copyright Year	2013
Description	Author affiliation: ISIR, UPMC, Paris, France (Ivaldi, S.) \|\| U2IS, ENSTA ParisTech, Palaiseau, France (Lyubova, N.; Filliat, D.)
Abstract	We present a developmental approach that allows a humanoid robot to continuously and incrementally learn entities through interaction with a human partner in a first stage before categorizing these entities into objects, humans or robot parts and using this knowledge to improve objects models by manipulation in a second stage. This approach does not require prior knowledge about the appearance of the robot, the human or the objects. The proposed perceptual system segments the visual space into proto-objects, analyses their appearance, and associates them with physical entities. Entities are then classified based on the mutual information with proprioception and on motion statistics. The ability to discriminate between the robot's parts and a manipulated object then allows to update the object model with newly observed object views during manipulation. We evaluate our system on an iCub robot, showing the independence of the self-identification method on the robot's hands appearances by wearing different colored gloves. The interactive object learning using self-identification shows an improvement in the objects recognition accuracy with respect to learning through observation only.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1365
Ending Page	1370
File Size	8896301
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739655
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Visualization Joints Object recognition Vocabulary Motion segmentation interactive object exploration developmental robotics incremental learning robot self-identification
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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