Lifelong Augmentation of Multi-Modal Streaming Autobiographical Memories

Title: Lifelong Augmentation of Multi-Modal Streaming Autobiographical Memories
Author(s): Petit, M
Fischer, T
Demiris, Y
Item Type: Journal Article
Abstract: Robot systems that interact with humans over extended periods of time will benefit from storing and recalling large amounts of accumulated sensorimotor and interaction data. We provide a principled framework for the cumulative organisation of streaming autobiographical data so that data can be continuously processed and augmented as the processing and reasoning abilities of the agent develop and further interactions with humans take place. As an example, we show how a kinematic structure learning algorithm reasons a-posteriori about the skeleton of a human hand. A partner can be asked to provide feedback about the augmented memories, which can in turn be supplied to the reasoning processes in order to adapt their parameters. We employ active, multi-modal remembering, so the robot as well as humans can gain insights of both the original and augmented memories. Our framework is capable of storing discrete and continuous data in real-time. The data can cover multiple modalities and several layers of abstraction (e.g. from raw sound signals over sentences to extracted meanings). We show a typical interaction with a human partner using an iCub humanoid robot. The framework is implemented in a platform-independent manner. In particular, we validate its multi platform capabilities using the iCub, Baxter and NAO robots. We also provide an interface to cloud based services, which allow automatic annotation of episodes. Our framework is geared towards the developmental robotics community, as it 1) provides a variety of interfaces for other modules, 2) unifies previous works on autobiographical memory, and 3) is licensed as open source software.
Publication Date: 9-Dec-2015
Date of Acceptance: 18-Nov-2015
URI: http://hdl.handle.net/10044/1/27800
DOI: http://dx.doi.org/10.1109/TAMD.2015.2507439
ISSN: 2379-8920
Publisher: IEEE
Start Page: 201
End Page: 213
Journal / Book Title: IEEE Transactions on Cognitive and Developmental Systems
Volume: 8
Issue: 3
Copyright Statement: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Commission of the European Communities
Funder's Grant Number: 612139
643783
Keywords: Autobiographical Memory
Reasoning
Remembering
Developmental Robotics
Human Feedback
Robotics
Publication Status: Published
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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