Biologically Inspired Self-Organizing Computational Model to Mimic Infant Learning

Abstract

Recent technological advancements have fostered human–robot coexistence in work and residential environments. The assistive robot must exhibit humane behavior and consistent care to become an integral part of the human habitat. Furthermore, the robot requires an adaptive unsupervised learning model to explore unfamiliar conditions and collaborate seamlessly. This paper introduces variants of the growing hierarchical self-organizing map (GHSOM)-based computational models for assistive robots, which constructs knowledge from unsupervised exploration-based learning. Traditional self-organizing map (SOM) algorithms have shortcomings, including finite neuron structure, user-defined parameters, and non-hierarchical adaptive architecture. The proposed models overcome these limitations and dynamically grow to form problem-dependent hierarchical feature clusters, thereby allowing associative learning and symbol grounding. Infants can learn from their surroundings through exploration and experience, developing new neuronal connections as they learn. They can also apply their prior knowledge to solve unfamiliar problems. With infant-like emergent behavior, the presented models can operate on different problems without modifications, producing new patterns not present in the input vectors and allowing interactive result visualization. The proposed models are applied to the color, handwritten digits clustering, finger identification, and image classification problems to evaluate their adaptiveness and infant-like knowledge building. The results show that the proposed models are the preferred generalized models for assistive robots.

Keywords

• parameter-less self-organizing map
• assistive robots
• infant learning
• adaptive architecture
• unsupervised learning
• cognitive robots