Integrating Spatial Concepts into a Probabilistic Concept Web

Celikkanat, Hande
Şahin, Erol
Kalkan, Sinan
In this paper, we study the learning and representation of grounded spatial concepts in a probabilistic concept web that connects them with other noun, adjective, and verb concepts. Specifically, we focus on the prepositional spatial concepts, such as "on", "below", "left", "right", "in front of" and "behind". In our prior work (Celikkanat et al., 2015), inspired from the distributed highly-connected conceptual representation in human brain, we proposed using Markov Random Field for modeling a concept web on a humanoid robot. For adequately expressing the unidirectional (i.e., non-symmetric) nature of the spatial propositions, in this work, we propose a extension of the Markov Random Field into a simple hybrid Markov Random Field model, allowing both undirected and directed connections between concepts. We demonstrate that our humanoid robot, iCub, is able to (i) extract meaningful spatial concepts in addition to noun, adjective and verb concepts from a scene using the proposed model, (ii) correct wrong initial predictions using the connectedness of the concept web, and (iii) respond correctly to queries involving spatial concepts, such as ball-left-of-the-cup.


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Kalkan, Sinan; Yuerueten, Onur; Borghi, Anna M.; Şahin, Erol (John Benjamins Publishing Company, 2014-01-01)
In this paper, we investigate how the interactions of a robot with its environment can be used to create concepts that are typically represented by verbs in language. Towards this end, we utilize the notion of affordances to argue that verbs typically refer to the generation of a specific type of effect rather than a specific type of action. Then, we show how a robot can form these concepts through interactions with the environment and how humans can use these concepts to ease their communication with the r...
Formation of adjective, noun and verb concepts through affordances
Yürüten, Onur; Kalkan, Sinan; Şahin, Erol; Department of Computer Engineering (2012)
In this thesis, we study the development of linguistic concepts (corresponding to a subset of nouns, verbs and adjectives) on a humanoid robot. To accomplish this goal, we use affordances, a notion first proposed by J.J. Gibson to describe the action possibilities offered to an agent by the environment. Using the affordances formalization framework of Sahin et al., we have implemented a learning system on a humanoid robot and obtained the required data from the sensorimotor experiences of the robot. The sys...
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Tekmen, E. Anne Ferrell; Daloğlu, Ayşegül (Wiley, 2006-06-01)
This study examined the relationship between learners' incidental vocabulary acquisition and their level of proficiency, and between acquisition and word frequency in a text. Participants were Turkish learners of English at three proficiency levels. One reading text and four vocabulary tests were administered over a two-week period. Analyses of the data revealed that lexical gains from reading were significant for each group (p < .05). The higher proficiency groups were able to acquire more words than lower...
A Probabilistic Concept Web on a Humanoid Robot
Çelikkanat, Hande; Orhan, Guner; Kalkan, Sinan (2015-06-01)
It is now widely accepted that concepts and conceptualization are key elements towards achieving cognition on a humanoid robot. An important problem on this path is the grounded representation of individual concepts and the relationships between them. In this article, we propose a probabilistic method based on Markov Random Fields to model a concept web on a humanoid robot where individual concepts and the relations between them are captured. In this web, each individual concept is represented using a proto...
A tune-based account of Turkish information structure
Özge, Umut; Bozşahin, Hüseyin Cem; Zeyrek, Deniz; Department of Cognitive Sciences (2003)
Languages differ in the means they avail themselves of for the structural realization of information structure, where available options are word order,prosody and morphology. Turkish has long been characterized as predominantly using word order and its variation in realizing information structure, where certain positions in a sentence are associated with certain pragmatic functions related to information structure. Prosody has been proposed to play only a secondary role interacting with word order. Contrar...
Citation Formats
H. Celikkanat, E. Şahin, and S. Kalkan, “Integrating Spatial Concepts into a Probabilistic Concept Web,” 2015, Accessed: 00, 2020. [Online]. Available: