Learning to recognize objects on the fly: a neurally based dynamic field approach.

Abstract

Autonomous robots interacting with human users need to build and continuously update scene representations. This entails the problem of rapidly learning to recognize new objects under user guidance. Based on analogies with human visual working memory, we propose a dynamical field architecture, in which localized peaks of activation represent objects over a small number of simple feature dimensions. Learning consists of laying down memory traces of such peaks. We implement the dynamical field model on a service robot and demonstrate how it learns 30 objects from a very small number of views (about 5 per object are sufficient). We also illustrate how properties of feature binding emerge from this framework.