Venkatesh, SG and Upadrashta, R and Kolathaya, S and Amrutur, B (2020) Teaching Robots Novel Objects by Pointing at Them. In: 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020, 31 Aug - 4 Sept 2020, Naples; Italy, pp. 1101-1106.
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Abstract
Robots that must operate in novel environments and collaborate with humans must be capable of acquiring new knowledge from human experts during operation. We propose teaching a robot novel objects it has not encountered before by pointing a hand at the new object of interest. An end-to-end neural network is used to attend to the novel object of interest indicated by the pointing hand and then to localize the object in new scenes. In order to attend to the novel object indicated by the pointing hand, we propose a spatial attention modulation mechanism that learns to focus on the highlighted object while ignoring the other objects in the scene. We show that a robot arm can manipulate novel objects that are highlighted by pointing a hand at them. We also evaluate the performance of the proposed architecture on a synthetic dataset constructed using emojis and on a real-world dataset of common objects. © 2020 IEEE.
| Item Type: | Conference Paper |
|---|---|
| Publication: | 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Additional Information: | cited By 0; Conference of 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 ; Conference Date: 31 August 2020 Through 4 September 2020; Conference Code:164066 |
| Keywords: | Agricultural robots, End to end; Human expert; Proposed architectures; Real-world; Robot arms; Spatial attention; Teaching robots, Social robots |
| Department/Centre: | Division of Electrical Sciences > Electrical Communication Engineering > Electrical Communication Engineering - Technical Reports Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems |
| Date Deposited: | 19 Jan 2021 06:23 |
| Last Modified: | 19 Jan 2021 06:23 |
| URI: | http://eprints.iisc.ac.in/id/eprint/67397 |
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