Service robots benefit from encoding information in semantically meaningful ways to enable more robust task execution. Prior work has shown multi-relational embeddings can encode semantic knowledge graphs to promote generalizability and scalability, but only within a batched learning paradigm. We present Incremental Semantic Initialization (ISI), an incremental learning approach that enables novel semantic concepts to be initialized in the embedding in relation to previously learned embeddings of semantically similar concepts. We evaluate ISI on mined AI2Thor and MatterPort3D datasets; our experiments show that on average ISI improves immediate query performance by 41.4%. Additionally, ISI methods on average reduced the number of epochs required to approach model convergence by 78.2%.

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中文知识图谱(Chinese Knowledge Graph),最早起源于Google Knowledge Graph。知识图谱本质上是一种语义 网络。其结点代表实体(entity)或者概念(concept),边代表实体/概念之间的各种语义关系。

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