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1、CONFIDENTIAL.Limitedcirculation.Forreviewonly.1AutonomousKnowledgeAcquisitionbasedonActiveLearning:ApplicationtoHumanoidRobotsinIndoorEnvironmentDominikMaximiliánRamík,ChristopheSabourin,andKuroshMadaniAbstract—Inthispaper,wepresentacognitivesystemallow-arela
2、tivelysmallnumberofsamples.Thisimportantcapacityingarobottodiscovertheworld,inwhichitevolves,andtoisobservedinchildrenlearningthelanguage(seee.g.[6]).learnautonomouslyhighlevelknowledgeaboutitfromlowlevelThisproblemhasbeenaddressedondifferentdegreesinsensorda
3、ta.Thelearningisaccomplishedbothbyobservationandbyanactiveinteractionwithahuman,inwhichtherobotpreviousworks.Forexample,in[7]acomputationalmodelistheactorofthelearning.Wefirstdescribethesysteminofword-meaningacquisitionbyinteractionispresented.Inageneralmanner
4、andweprovideexperimentalresultsona[8]authorspresentacomputationalmodelforacquisitionhumanoidrobotinareal-worldenvironmentusingevery-dayofalexicondescribingsimpleobjectsinapopulationofobjects.Weshow,thatourapproachallowsahumanoidrobothumanoidrobots.In[9],ahuma
5、noidrobotistaughttotolearnsuccessfullywithoutnegativeinputandfromsmallnumberofsamples.associatesimpleshapestohumanlexicon.Interactivelearn-ingisexploredalsoin[10],wherearobotisrequiredtolearntodistinguishtwoclassesofobjects.In[11],aI.INTRODUCTIONhumanoidrobot
6、istaughtthroughadialogwithuntraineduserwiththeaimtolearndifferentobjectsandtograspNrecentyears,therehasbeenasubstantialprogressinthemproperly.Intheworkof[12],alexicalacquisitionIroboticsystemsabletorobustlyrecognizeobjectsinrealmodelispresentedcombiningmoretr
7、aditionalapproachesworldusingalargedatabaseofpre-collectedknowledgewiththeconceptofcuriositytoalternatetheattentionofthe(see[1]foranotableexample).Therehasbeen,however,learningrobot.Amoreadvancedworkusingaweakformcomparativelylessadvanceinautonomousacquisitio
8、nofofinteractionwiththetutorhasbeenrecentlypresentedinsuchaknowledge,wherewefacetwoimportantchallenges.[13],whereanonlinealgorithmisproposedallowingarobotOne,comingfromtheworlditself,isth
