Tell me what this is: Few-Shot Incremental Object Learning by a Robot

07/15/2020
by   Ali Ayub, et al.
Penn State University
0

For many applications, robots will need to be incrementally trained to recognize the specific objects needed for an application. This paper presents a practical system for incrementally training a robot to recognize different object categories using only a small set of visual examples provided by a human. The paper uses a recently developed state-of-the-art method for few-shot incremental learning of objects. After learning the object classes incrementally, the robot performs a table cleaning task organizing objects into categories specified by the human. We also demonstrate the system's ability to learn arrangements of objects and predict missing or incorrectly placed objects. Experimental evaluations demonstrate that our approach achieves nearly the same performance as a system trained with all examples at one time (batch training), which constitutes a theoretical upper bound.

READ FULL TEXT
03/23/2021

F-SIOL-310: A Robotic Dataset and Benchmark for Few-Shot Incremental Object Learning

Deep learning has achieved remarkable success in object recognition task...
05/16/2023

Interactive and Incremental Learning of Spatial Object Relations from Human Demonstrations

Humans use semantic concepts such as spatial relations between objects t...
07/31/2023

CBCL-PR: A Cognitively Inspired Model for Class-Incremental Learning in Robotics

For most real-world applications, robots need to adapt and learn continu...
04/24/2021

Incremental Few-shot Text Classification with Multi-round New Classes: Formulation, Dataset and System

Text classification is usually studied by labeling natural language text...
05/17/2016

Incremental Robot Learning of New Objects with Fixed Update Time

We consider object recognition in the context of lifelong learning, wher...
03/17/2022

Contrastive Learning for Cross-Domain Open World Recognition

The ability to evolve is fundamental for any valuable autonomous agent w...
07/05/2023

Active Class Selection for Few-Shot Class-Incremental Learning

For real-world applications, robots will need to continually learn in th...

Please sign up or login with your details

Forgot password? Click here to reset