How can humanoid acquire lexicon? Active approach by attention and learning biases based on curiosity

摘要

Observation study of human infants tells us that they can successfully acquire lexicon; understanding the relationship between the meaning and the uttered word from only one teaching by caregiver, even though there are many other possible mappings. This paper proposes a lexical acquisition model which makes use of curiosity to associate visual features of observed objects with the labels that are uttered by a caregiver. A robot changes its attention and learning rate based on curiosity. In the experiment with a real humanoid robot, the visual features are represented with self organizing maps which adaptively represents the shape of observed objects independent of the viewpoints.