# Tell me what this is: Few-Shot Incremental Object Learning by a Robot

arXiv: https://arxiv.org/abs/2008.00819 · HTML: https://mlsanity.com/paper/2008.00819/

## Key facts

- Cited by 18 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Jul 2020.

## Built on by (most cited first, 18 of 18)

- [A Survey on Few-Shot Class-Incremental Learning](https://mlsanity.com/paper/2304.08130/) (2023)
- [EEC: Learning to Encode and Regenerate Images for Continual Learning](https://mlsanity.com/paper/2101.04904/) (2021)
- [Few-Shot Continual Active Learning by a Robot](https://mlsanity.com/paper/2210.04137/) (2022)
- [Multimodal Parameter-Efficient Few-Shot Class Incremental Learning](https://mlsanity.com/paper/2303.04751/) (2023)
- [F-SIOL-310: A Robotic Dataset and Benchmark for Few-Shot Incremental Object Learning](https://mlsanity.com/paper/2103.12242/) (2021)
- [Online Continual Learning for Robust Indoor Object Recognition](https://mlsanity.com/paper/2307.09827/) (2023)
- [Interactive Continual Learning Architecture for Long-Term Personalization of Home Service Robots](https://mlsanity.com/paper/2403.03462/) (2024)
- [Evaluating Continual Learning on a Home Robot](https://mlsanity.com/paper/2306.02413/) (2023)
- [Continual Learning for Autonomous Robots: A Prototype-based Approach](https://mlsanity.com/paper/2404.00418/) (2024)
- [Cross-Architecture Auxiliary Feature Space Translation for Efficient Few-Shot Personalized Object Detection](https://mlsanity.com/paper/2407.01193/) (2024)
- [Continual Learning through Human-Robot Interaction: Human Perceptions of a Continual Learning Robot in Repeated Interactions](https://mlsanity.com/paper/2305.16332/) (2023)
- [Learning Novel Objects Continually Through Curiosity](https://mlsanity.com/paper/2103.07758/) (2021)
- [CBCL-PR: A Cognitively Inspired Model for Class-Incremental Learning in Robotics](https://mlsanity.com/paper/2308.00199/) (2023)
- [Reviewing continual learning from the perspective of human-level intelligence](https://mlsanity.com/paper/2111.11964/) (2021)
- [How Do Human Users Teach a Continual Learning Robot in Repeated Interactions?](https://mlsanity.com/paper/2307.00123/) (2023)
- [Continual Learning of Visual Concepts for Robots through Limited Supervision](https://mlsanity.com/paper/2101.10509/) (2021)
- [Contrastive Learning for Cross-Domain Open World Recognition](https://mlsanity.com/paper/2203.09257/) (2022)
- [The impact of Compositionality in Zero-shot Multi-label action recognition for Object-based tasks](https://mlsanity.com/paper/2405.08695/) (2024)

## Abstract (arXiv)

For many applications, robots will need to be incrementally trained to recognize the specific objects needed for an application. This paper presents a practical system for incrementally training a robot to recognize different object categories using only a small set of visual examples provided by a human. The paper uses a recently developed state-of-the-art method for few-shot incremental learning of objects. After learning the object classes incrementally, the robot performs a table cleaning task organizing objects into categories specified by the human. We also demonstrate the system's ability to learn arrangements of objects and predict missing or incorrectly placed objects. Experimental evaluations demonstrate that our approach achieves nearly the same performance as a system trained with all examples at one time (batch training), which constitutes a theoretical upper bound.