Interactive teaching and experience extraction for learning about objects and robot activities

Gi Hyun Lim, Miguel Oliveira, Vahid Mokhtari, S.H. Kasaei, Aneesh Chauhan, Luis Seabra Lopes, Ana Maria Tome

Research output: Chapter in Book/Report/Conference proceedingConference paper

7 Citations (Scopus)

Abstract

Intelligent service robots should be able to improve their knowledge from accumulated experiences through continuous interaction with the environment, and in particular with humans. A human user may guide the process of experience acquisition, teaching new concepts, or correcting insufficient or erroneous concepts through interaction. This paper reports on work towards interactive learning of objects and robot activities in an incremental and open-ended way. In particular, this paper addresses human-robot interaction and experience gathering. The robot's ontology is extended with concepts for representing human-robot interactions as well as the experiences of the robot. The human-robot interaction ontology includes not only instructor teaching activities but also robot activities to support appropriate feedback from the robot. Two simplified interfaces are implemented for the different types of instructions including the teach instruction, which triggers the robot to extract experiences. These experiences, both in the robot activity domain and in the perceptual domain, are extracted and stored in memory, and they are used as input for learning methods. The functionalities described above are completely integrated in a robot architecture, and are demonstrated in a PR2 robot.

Original languageEnglish
Title of host publicationThe 23rd IEEE International Symposium on Robot and Human Interactive Communication
EditorsR. Loureiro, Y. Nagai, S. Sabanovic, F. Tanaka, A. Alissandrakis, A. Tapus
PublisherIEEE
Pages153-160
Number of pages8
ISBN (Electronic)9781479967650
ISBN (Print)9781479967636
DOIs
Publication statusPublished - 15 Oct 2014
Externally publishedYes
Event23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014 - Edinburgh, United Kingdom
Duration: 25 Aug 201429 Aug 2014

Conference

Conference23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014
CountryUnited Kingdom
CityEdinburgh
Period25/08/1429/08/14

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  • Cite this

    Lim, G. H., Oliveira, M., Mokhtari, V., Kasaei, S. H., Chauhan, A., Lopes, L. S., & Tome, A. M. (2014). Interactive teaching and experience extraction for learning about objects and robot activities. In R. Loureiro, Y. Nagai, S. Sabanovic, F. Tanaka, A. Alissandrakis, & A. Tapus (Eds.), The 23rd IEEE International Symposium on Robot and Human Interactive Communication (pp. 153-160). IEEE. https://doi.org/10.1109/ROMAN.2014.6926246