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Journal of Robotics
Volume 2010 (2010), Article ID 307293, 9 pages
Research Article

Parameterless-Growing-SOM and Its Application to a Voice Instruction Learning System

Graduate School of Science and Engineering, Yamaguchi University, Tokiwadai 2-16-1, Ube, Yamaguchi 755-8611, Japan

Received 5 January 2010; Revised 22 April 2010; Accepted 21 June 2010

Academic Editor: Ivo Bukovsky

Copyright © 2010 Takashi Kuremoto et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


An improved self-organizing map (SOM), parameterless-growing-SOM (PL-G-SOM), is proposed in this paper. To overcome problems existed in traditional SOM (Kohonen, 1982), kinds of structure-growing-SOMs or parameter-adjusting-SOMs have been invented and usually separately. Here, we combine the idea of growing SOMs (Bauer and Villmann, 1997; Dittenbach et al. 2000) and a parameterless SOM (Berglund and Sitte, 2006) together to be a novel SOM named PL-G-SOM to realize additional learning, optimal neighborhood preservation, and automatic tuning of parameters. The improved SOM is applied to construct a voice instruction learning system for partner robots adopting a simple reinforcement learning algorithm. User's instructions of voices are classified by the PL-G-SOM at first, then robots choose an expected action according to a stochastic policy. The policy is adjusted by the reward/punishment given by the user of the robot. A feeling map is also designed to express learning degrees of voice instructions. Learning and additional learning experiments used instructions in multiple languages including Japanese, English, Chinese, and Malaysian confirmed the effectiveness of our proposed system.