Christopher McClurg, Ali Ayub, Harsh Tyagi, Sarah M. Rajtmajer, Alan R. Wagner

Research output: Contribution to journalConference articlepeer-review


For real-world applications, robots will need to continually learn in their environments through limited interactions with their users. Toward this, previous works in few-shot class incremental learning (FSCIL) and active class selection (ACS) have achieved promising results but were tested in constrained setups. Therefore, in this paper, we combine ideas from FSCIL and ACS to develop a novel framework that can allow an autonomous agent to continually learn new objects by asking its users to label only a few of the most informative objects in the environment. To this end, we build on a state-of-the-art (SOTA) FSCIL model and extend it with techniques from ACS literature. We term this model Few-shot Incremental Active class SeleCtiOn (FIASco). We further integrate a potential field-based navigation technique with our model to develop a complete framework that can allow an agent to process and reason on its sensory data through the FIASco model, navigate towards the most informative object in the environment, gather data about the object through its sensors and incrementally update the FIASco model. Experimental results on a simulated agent and a real robot show the significance of our approach for long-term real-world robotics applications.

Original languageEnglish (US)
Pages (from-to)811-827
Number of pages17
JournalProceedings of Machine Learning Research
StatePublished - 2023
Event2nd Conference on Lifelong Learning Agents, CoLLA 2023 - Montreal, Canada
Duration: Aug 22 2023Aug 25 2023

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Statistics and Probability

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