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Grounding of human environments and activities for autonomous robots
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
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2017 (English)In: IJCAI International Joint Conference on Artificial Intelligence, International Joint Conferences on Artificial Intelligence , 2017, p. 1395-1402Conference paper (Refereed)
Abstract [en]

With the recent proliferation of human-oriented robotic applications in domestic and industrial scenarios, it is vital for robots to continually learn about their environments and about the humans they share their environments with. In this paper, we present a novel, online, incremental framework for unsupervised symbol grounding in real-world, human environments for autonomous robots. We demonstrate the flexibility of the framework by learning about colours, people names, usable objects and simple human activities, integrating stateofthe-art object segmentation, pose estimation, activity analysis along with a number of sensory input encodings into a continual learning framework. Natural language is grounded to the learned concepts, enabling the robot to communicate in a human-understandable way. We show, using a challenging real-world dataset of human activities as perceived by a mobile robot, that our framework is able to extract useful concepts, ground natural language descriptions to them, and, as a proof-ofconcept, generate simple sentences from templates to describe people and the activities they are engaged in.

Place, publisher, year, edition, pages
International Joint Conferences on Artificial Intelligence , 2017. p. 1395-1402
Series
IJCAI International Joint Conference on Artificial Intelligence, ISSN 1045-0823
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-217131Scopus ID: 2-s2.0-85031897942ISBN: 9780999241103 OAI: oai:DiVA.org:kth-217131DiVA, id: diva2:1154078
Conference
26th International Joint Conference on Artificial Intelligence, IJCAI 2017, Melbourne, Australia, 19 August 2017 through 25 August 2017
Note

QC 20171101

Available from: 2017-11-01 Created: 2017-11-01 Last updated: 2017-11-01Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf