Towards the Emergence of Procedural Memories from Lifelong Multi-Modal Streaming Memories for Cognitive Robots

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Title: Towards the Emergence of Procedural Memories from Lifelong Multi-Modal Streaming Memories for Cognitive Robots
Author(s): Petit, M
Fischer, T
Demiris, Y
Item Type: Conference Paper
Abstract: Various research topics are emerging as the demand for intelligent lifelong interactions between robot and humans increases. Among them, we can find the examination of persistent storage, the continuous unsupervised annotation of memories and the usage of data at high-frequency over long periods of time. We recently proposed a lifelong autobiographical memory architecture tackling some of these challenges, allowing the iCub humanoid robot to 1) create new memories for both actions that are self-executed and observed from humans, 2) continuously annotate these actions in an unsupervised manner, and 3) use reasoning modules to augment these memories a-posteriori. In this paper, we present a reasoning algorithm which generalises the robots’ understanding of actions by finding the point of commonalities with the former ones. In particular, we generated and labelled templates of pointing actions in different directions. This represents a first step towards the emergence of a procedural memory within a long-term autobiographical memory framework for robots.
Publication Date: 9-Oct-2016
Date of Acceptance: 1-Sep-2016
URI: http://hdl.handle.net/10044/1/40206
Copyright Statement: © 2016 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
Funder's Grant Number: 612139
Conference Name: Workshop on Machine Learning Methods for High-Level Cognitive Capabilities in Robotics at IEEE/RSJ IROS
Start Date: 2016-10-09
Finish Date: 2016-10-14
Conference Place: Daejeon, Korea
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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