Learning Relational Object Categories Using Behavioral Exploration and Multimodal Perception

Abstract—This paper proposes a framework for learning human-provided category labels that describe individual objects, pairwise object relationships, as well as groups of objects. The framework was evaluated using an experiment in which the robot interactively explored 36 objects that varied by color, weight, and contents. The proposed method allowed the robot not only to learn categories describing individual objects, but also to learn categories describing pairs and groups of objects with hig