CINet: A Learning Based Approach to Incremental Context Modeling in Robots

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2018-10-05

Author

Doğan, Fethiye Irmak
Bozcan, Ilker
Çelik, Mehmet
Kalkan, Sinan

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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There have been several attempts at modeling context in robots. However, either these attempts assume a fixed number of contexts or use a rule-based approach to determine when to increment the number of contexts. In this paper, we pose the task of when to increment as a learning problem, which we solve using a Recurrent Neural Network. We show that the network successfully (with 98% testing accuracy) learns to predict when to increment, and demonstrate, in a scene modeling problem (where the correct number of contexts is not known), that the robot increments the number of contexts in an expected manner (i.e., the entropy of the system is reduced). We also present how the incremental model can be used for various scene reasoning tasks.

Subject Keywords

Context modeling, Training, Robots, Computational modeling, Resource management, Recurrent neural networks, Testing

URI

https://hdl.handle.net/11511/48198

DOI

https://doi.org/10.1109/iros.2018.8593633

Collections

Department of Computer Engineering, Conference / Seminar

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Citation Formats

F. I. Doğan, I. Bozcan, M. Çelik, and S. Kalkan, “CINet: A Learning Based Approach to Incremental Context Modeling in Robots,” 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/48198.