抄録
In this paper, we propose a nonparametric Bayesian framework for categorizing multimodal sensory signals such as audio, visual, and haptic information by robots. The robot uses its physical embodiment to grasp and observe an object from various viewpoints as well as listen to the sound during the observation. The multimodal information enables the robot to form human-like object categories that are bases of intelligence. The proposed method is an extension of Hierarchical Dirichlet Process (HDP), a kind of nonparametric Bayesian models, to multimodal HDP (MHDP). MHDP can estimate the number of categories, while the parametric model, e.g. LDA-based categorization, requires to specify the number in advance. As this is an unsupervised learning method, users do not need to give any correct labels to the robot and it can classify objects autonomously. At the same time the proposed method provides a probabilistic framework for inferring object properties from limited observations. Validity of the proposed method is shown through some experimental results.
