Persistent self-supervised learning: From stereo to monocular vision for obstacle avoidance

Self-supervised learning is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in self-supervised learning how a robot’s learning behavior should be organized, so that the robot can keep performing its task in the...

Persistent self-supervised learning principle: Study and demonstration on flying robots

We introduce, study and demonstrate Persistent Self-Supervised Learning (PSSL), a machine learning method for usage onboard robotic platforms. The PSSL model leverages a standard supervised learning method to simplify the learning problem, but acquires training data in an unsupervised and autonomous manner. Using two platforms, a small...