STREAK: Streaming Network for Continual Learning of Object Relocations under Household Context Drifts
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| Format: | Preprint |
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2024
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| _version_ | 1866908303782576128 |
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| author | Bartoli, Ermanno Dogan, Fethiye Irmak Leite, Iolanda |
| author_facet | Bartoli, Ermanno Dogan, Fethiye Irmak Leite, Iolanda |
| contents | In real-world settings, robots are expected to assist humans across diverse tasks and still continuously adapt to dynamic changes over time. For example, in domestic environments, robots can proactively help users by fetching needed objects based on learned routines, which they infer by observing how objects move over time. However, data from these interactions are inherently non-independent and non-identically distributed (non-i.i.d.), e.g., a robot assisting multiple users may encounter varying data distributions as individuals follow distinct habits. This creates a challenge: integrating new knowledge without catastrophic forgetting. To address this, we propose STREAK (Spatio Temporal RElocation with Adaptive Knowledge retention), a continual learning framework for real-world robotic learning. It leverages a streaming graph neural network with regularization and rehearsal techniques to mitigate context drifts while retaining past knowledge. Our method is time- and memory-efficient, enabling long-term learning without retraining on all past data, which becomes infeasible as data grows in real-world interactions. We evaluate STREAK on the task of incrementally predicting human routines over 50+ days across different households. Results show that it effectively prevents catastrophic forgetting while maintaining generalization, making it a scalable solution for long-term human-robot interactions. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2411_05549 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | STREAK: Streaming Network for Continual Learning of Object Relocations under Household Context Drifts Bartoli, Ermanno Dogan, Fethiye Irmak Leite, Iolanda Robotics In real-world settings, robots are expected to assist humans across diverse tasks and still continuously adapt to dynamic changes over time. For example, in domestic environments, robots can proactively help users by fetching needed objects based on learned routines, which they infer by observing how objects move over time. However, data from these interactions are inherently non-independent and non-identically distributed (non-i.i.d.), e.g., a robot assisting multiple users may encounter varying data distributions as individuals follow distinct habits. This creates a challenge: integrating new knowledge without catastrophic forgetting. To address this, we propose STREAK (Spatio Temporal RElocation with Adaptive Knowledge retention), a continual learning framework for real-world robotic learning. It leverages a streaming graph neural network with regularization and rehearsal techniques to mitigate context drifts while retaining past knowledge. Our method is time- and memory-efficient, enabling long-term learning without retraining on all past data, which becomes infeasible as data grows in real-world interactions. We evaluate STREAK on the task of incrementally predicting human routines over 50+ days across different households. Results show that it effectively prevents catastrophic forgetting while maintaining generalization, making it a scalable solution for long-term human-robot interactions. |
| title | STREAK: Streaming Network for Continual Learning of Object Relocations under Household Context Drifts |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.05549 |