自己増殖型ニューラルネットワークを用いたヒューマノイドロボットの発達的言語獲得

抄録

This paper presents an unsupervised approach of integrating speech and visual information without using any prepared data(training data). The approach enables a humanoid robot, Incremental Knowledge Robot 1 (IKR1), to learn words' meanings. The approach is different from most existing approaches in that the robot learns online from audio-visual input, rather than from stationary data provided in advance. In addition, the robot is capable of incremental learning, which is considered to be indispensable to lifelong learning. A noise-robust self-organized incremental neural network(SOINN) is developed to represent the topological structure of unsupervised online data. We are also developing an active learning mechanism, called ``desire for knowledge'', to let the robot select the object for which it possesses the least information for subsequent learning. Experimental results show that the approach raises the efficiency of the learning process. Based on audio and visual data, we construct a mental model for the robot, which forms a basis for constructing IKR1's inner world and builds a bridge connecting the learned concepts with current and past scenes.