On-site Learning of an Environment

SpCoSLAM [4]

• Simultaneous acquisition of spatial concepts, vocabularies,

and a map

• Sequential Bayesian estimation with particle filter [10]

• Cross-modal inference is possible

[4] A. Taniguchi, et.al, “Improved and scalable online learning of spatial concepts and language models with mapping”, Autonomous Robots, Vol.44, pp927-946, 2020.

[9] A. Taniguchi, et al. "Autonomous planning based on spatial concepts to tidy up home environments with service robots“, Advanced Robotics, Vol.35, No.8, pp.471-489, 2021.

[10] K. R. Canini, et al. “Online Inference of Topics with Latent Dirichlet Allocation”, International Conference on Artificial Intelligence and Statistics (AISTATS), Vol.9, No.1999, pp.65–72, 2009.

The robot need to obtain a certain amount of observations in the environment.

7

Spatial concept formation method based on

probabilistic generative model [4, 9]

Definition：Spatial concepts

A set of parameters on probability

distributions formed by unsupervised learning

based on multimodal information as places.

The robot can construct statical

k w “which object is likely to

h p ” through observation.

Gaussian

dist.

⇒ Reduce on-site learning cost by using commonsense knowledge