Imperial College London


Faculty of EngineeringDepartment of Electrical and Electronic Engineering




+44 (0)20 7594 6173c.ciliberto CV




1003Electrical EngineeringSouth Kensington Campus






BibTex format

author = {Camoriano, R and Pasquale, G and Ciliberto, C and Natale, L and Rosasco, L and Metta, G},
doi = {10.1109/ICRA.2017.7989364},
pages = {3207--3214},
title = {Incremental robot learning of new objects with fixed update time},
url = {},
year = {2017}

RIS format (EndNote, RefMan)

AB - © 2017 IEEE. We consider object recognition in the context of lifelong learning, where a robotic agent learns to discriminate between a growing number of object classes as it accumulates experience about the environment. We propose an incremental variant of the Regularized Least Squares for Classification (RLSC) algorithm, and exploit its structure to seamlessly add new classes to the learned model. The presented algorithm addresses the problem of having an unbalanced proportion of training examples per class, which occurs when new objects are presented to the system for the first time. We evaluate our algorithm on both a machine learning benchmark dataset and two challenging object recognition tasks in a robotic setting. Empirical evidence shows that our approach achieves comparable or higher classification performance than its batch counterpart when classes are unbalanced, while being significantly faster.
AU - Camoriano,R
AU - Pasquale,G
AU - Ciliberto,C
AU - Natale,L
AU - Rosasco,L
AU - Metta,G
DO - 10.1109/ICRA.2017.7989364
EP - 3214
PY - 2017///
SN - 1050-4729
SP - 3207
TI - Incremental robot learning of new objects with fixed update time
UR -
ER -