触覚テクスチャ認識のためのマルチモーダルゼロショット学習
Multimodal Zero-Shot Learning for Tactile Texture Recognition
視覚情報と意味属性を組み合わせて触覚特徴を生成し、未学習の素材を触覚データなしで認識できるゼロショット学習フレームワークを提案した。
著者: Guanqun Cao, Jiaqi Jiang, Danushka Bollegala, Min Li, Shan Luo
分類: cs.RO
原文アブストラクト
Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile recognition methods can only classify known materials that have been touched and trained with tactile data, yet cannot classify unknown materials that are not trained with tactile data. To solve this problem, we propose a tactile zero-shot learning framework to recognise unknown materials when they are touched for the first time without requiring training tactile samples. The visual modality, providing tactile cues from sight, and semantic attributes, giving high-level characteristics, are combined together to bridge the gap between touched classes and untouched classes. A generative model is learnt to synthesise tactile features according to corresponding visual images and semantic embeddings, and then a classifier can be trained using the synthesised tactile features of untouched materials for zero-shot recognition. Extensive experiments demonstrate that our proposed multimodal generative model can achieve a high recognition accuracy of 83.06% in classifying materials that were not touched before. The robotic experiment demo and the dataset are available at https://sites.google.com/view/multimodalzsl.
