Online Knowledge Acquisition and General Problem Solving in a Real World by Humanoid Robots

With the ongoing development and expansion of communication networks and sensors, massive amounts of data are continuously generated in real time from real environments. Beforehand, prediction of a distribution underlying such data is difficult; furthermore, the data include substantial amounts of noise. These factors make it difficult to estimate probability densities. To handle these issues and massive amounts of data, we propose a nonparametric density estimator that rapidly learns data online and has high robustness. Our approach is an extension of both kernel density estimation (KDE) and a self-organizing incremental neural network (SOINN); therefore, we call our approach KDESOINN. An SOINN provides a clustering method that learns about the given data as networks of prototype of data; more specifically, an SOINN can learn the distribution underlying the given data. Using this information, KDESOINN estimates the probability density function. The results of our experiments show that KDESOINN outperforms or achieves performance comparable to the current state-of-the-art approaches in terms of robustness, learning time, and accuracy.

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Online Knowledge Acquisition and General Problem Solving in a Real World by Humanoid Robots

Cited by 2 publications

References 6 publications

How to Use the SOINN Software: User’s Guide (Version 1.0)

How to Use the SOINN Software: User’s Guide (Version 1.0)

Nonparametric Density Estimation Based on Self-Organizing Incremental Neural Network for Large Noisy Data

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