Design and implementation of an object learning system for service robots by using random forest, convolutional neural network, and gated recurrent neural network

Chih Yin Liu, Cheng Hui Li, Tzuu Hseng S. Li, Cheng Ying Hsieh, Ching Wen Cheng, Chih Yen Chen, Yu Ting Su

研究成果: Conference contribution

摘要

Inspired by the self-exploring learning approach, this paper proposes an object-learning system in which a robot interacts with objects to obtain their features and construct object concepts. The system consists of three kinds of features: Interaction features, visual features, and intrinsic features. When the robot interacts with an object, it observes the changes in the object to obtain its interaction features. At the same time, the robot learns the visual features of the object. The intrinsic features are the properties of the object. Models of the relationships among the three kinds of features are constructed through an Artificial Bee Colony based Random Forest algorithm and a Convolutional Neural Network. The established models help the robot to predict the properties of new objects and to make decisions. Two experiments are constructed in this paper: The service-providing task and the stacking task. In the former, the robot decides on an appropriate object, using the object concept models, to accomplish an appointed task. In the second experiment, the robot uses a Gated Recurrent Neural Network to learn the stacking sequence of various objects. All the experimental results demonstrate that the robot can build object concept models by interacting with objects, and can utilize these models to accomplish various tasks.

原文English
主出版物標題2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面933-940
頁數8
ISBN(電子)9781728145693
DOIs
出版狀態Published - 2019 十月
事件2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 - Bari, Italy
持續時間: 2019 十月 62019 十月 9

出版系列

名字Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
2019-October
ISSN(列印)1062-922X

Conference

Conference2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
國家Italy
城市Bari
期間19-10-0619-10-09

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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  • 引用此

    Liu, C. Y., Li, C. H., Li, T. H. S., Hsieh, C. Y., Cheng, C. W., Chen, C. Y., & Su, Y. T. (2019). Design and implementation of an object learning system for service robots by using random forest, convolutional neural network, and gated recurrent neural network. 於 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 (頁 933-940). [8914311] (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics; 卷 2019-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2019.8914311