Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Continual Learning for Affective Robotics: Why, What and How?
Date
2020-01-01
Author
Churamani, Nikhil
Kalkan, Sinan
Gunes, Hatice
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
166
views
0
downloads
Cite This
Creating and sustaining closed-loop dynamic and social interactions with humans require robots to continually adapt towards their users' behaviours, their affective states and moods while keeping them engaged in the task they are performing. Analysing, understanding and appropriately responding to human nonverbal behaviour and affective states are the central objectives of affective robotics research. Conventional machine learning approaches do not scale well to the dynamic nature of such real-world interactions as they require samples from stationary data distributions. The real-world is not stationary, it changes continuously. In such contexts, the training data and learning objectives may also change rapidly. Continual Learning (CL), by design, is able to address this very problem by learning incrementally. In this paper, we argue that CL is an essential paradigm for creating fully adaptive affective robots (why). To support this argument, we first provide an introduction to CL approaches and what they can offer for various dynamic (interactive) situations (what). We then formulate guidelines for the affective robotics community on how to utilise CL for perception and behaviour learning with adaptation (how). For each case, we reformulate the problem as a CL problem and outline a corresponding CL-based solution. We conclude the paper by highlighting the potential challenges to be faced and by providing specific recommendations on how to utilise CL for affective robotics.
URI
https://hdl.handle.net/11511/88511
DOI
https://doi.org/10.1109/ro-man47096.2020.9223564
Collections
Department of Computer Engineering, Conference / Seminar
Suggestions
OpenMETU
Core
Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging
Arvin, Farshad; Watson, Simon; Turgut, Ali Emre; Espinosa, Jose; Krajnik, Tomas; Lennox, Barry (2018-12-01)
Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this p...
Lifelong learning and personalization in long-term human-robot interaction (LEAP-HRI)
Irfan, Bahar; Ramachandran, Aditi; Spaulding, Samuel; Kalkan, Sinan; Parisi, German I.; Gunes, Hatice (2021-03-08)
While most of the research in Human-Robot Interaction (HRI) focuses on short-term interactions, long-term interactions require bolder developments and a substantial amount of resources, especially if the robots are deployed in the wild. Robots need to incrementally learn new concepts or abilities in a lifelong fashion to adapt their behaviors within new situations and personalize their interactions with users to maintain their interest and engagement. The "Lifelong Learning and Personalization in Long-Term ...
Simple and complex behavior learning using behavior hidden Markov Model and CobART
Seyhan, Seyit Sabri; Alpaslan, Ferda Nur; Department of Computer Engineering (2013)
In this thesis, behavior learning and generation models are proposed for simple and complex behaviors of robots using unsupervised learning methods. Simple behaviors are modeled by simple-behavior learning model (SBLM) and complex behaviors are modeled by complex-behavior learning model (CBLM) which uses previously learned simple or complex behaviors. Both models have common phases named behavior categorization, behavior modeling, and behavior generation. Sensory data are categorized using correlation based...
Swarm robotics: From sources of inspiration to domains of application
Şahin, Erol (2005-01-01)
Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1) describing the desirable properties of swarm robotic systems, as observed in the system-level functioning of social insects, 2) proposing a definition for the term swarm robotics, and putting forward a set of criteria that can be used to distinguish swarm robotics research from other multi-r...
Swarm robotics: From sources of inspiration to domains of application
Şahin, Erol (Springer Verlag; 2005-09-01)
Swarm robotics is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects. This paper proposes a definition to this newly emerging approach by 1) describing the desirable properties of swarm robotic systems, as observed in the system-level functioning of social insects, 2) proposing a definition for the term swarm robotics, and putting forward a set of criteria that can be used to distinguish swarm robotics research from other multi-r...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
N. Churamani, S. Kalkan, and H. Gunes, “Continual Learning for Affective Robotics: Why, What and How?,” 2020, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/88511.