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Inamura, Tetsunari (3)
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Hits 1 – 3 of 3
1
Improved and Scalable Online Learning of Spatial Concepts and Language Models with Mapping ...
Taniguchi, Akira
;
Hagiwara, Yoshinobu
;
Taniguchi, Tadahiro
. - : arXiv, 2018
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2
Online Spatial Concept and Lexical Acquisition with Simultaneous Localization and Mapping ...
Taniguchi, Akira
;
Hagiwara, Yoshinobu
;
Taniguchi, Tadahiro
. - : arXiv, 2017
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3
Spatial Concept Acquisition for a Mobile Robot that Integrates Self-Localization and Unsupervised Word Discovery from Spoken Sentences ...
Taniguchi, Akira
;
Taniguchi, Tadahiro
;
Inamura, Tetsunari
. - : arXiv, 2016
Abstract:
In this paper, we propose a novel unsupervised learning method for the lexical acquisition of words related to places visited by robots, from human continuous speech signals. We address the problem of learning novel words by a robot that has no prior knowledge of these words except for a primitive acoustic model. Further, we propose a method that allows a robot to effectively use the learned words and their meanings for self-localization tasks. The proposed method is nonparametric Bayesian spatial concept acquisition method (SpCoA) that integrates the generative model for self-localization and the unsupervised word segmentation in uttered sentences via latent variables related to the spatial concept. We implemented the proposed method SpCoA on SIGVerse, which is a simulation environment, and TurtleBot2, which is a mobile robot in a real environment. Further, we conducted experiments for evaluating the performance of SpCoA. The experimental results showed that SpCoA enabled the robot to acquire the names of ... : This paper was accepted in the IEEE Transactions on Cognitive and Developmental Systems. (04-May-2016) ...
Keyword:
Artificial Intelligence cs.AI
;
Computation and Language cs.CL
;
FOS Computer and information sciences
;
Robotics cs.RO
URL:
https://arxiv.org/abs/1602.01208
https://dx.doi.org/10.48550/arxiv.1602.01208
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