Storing and retrieving perceptual episodic memories for long-term manipulation tasks
Storing and retrieving perceptual episodic memories for long-term manipulation tasks
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DOI：
10.1109/icar.2017.8023492
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发表时间：
2017-07
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影响因子：
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通讯作者：
Ferenc Bálint-Benczédi;Zoltán-Csaba Márton;M. Durner;M. Beetz
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文献类型：
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作者：
Ferenc Bálint-Benczédi;Zoltán-Csaba Márton;M. Durner;M. Beetz
随着最近的技术进步，机器人代理越来越能够执行越来越复杂的操作任务。这些机器人的感知能力需要能够适应它们要执行的各种任务。记住机器人所看到的，它所做的决定背后的理由是什么，或者它最终如何理解世界，如果我们想要感知能力可以扩展到现实世界的操纵，这些都是重要的问题。我们提出了一个机器人感知系统，在执行任务的过程中产生感知情景记忆。为了便于检索这些记忆，我们引入了一个对象和场景描述语言，作为一个抽象层之间的结构的感知日志和语义解释这些。描述语言可以通过查询接口来使用，以检索所生成的情景记忆的特定部分。所提出的系统的目的是双重的：使在线回顾和专门培训的感知例程，并使研究人员能够交互式地探索感知结果。
With recent technological advances, robotic agents are increasingly capable of performing ever more sophisticated manipulation tasks. Perceptual capabilities of these robots need to be able to adapt to the wide variety of tasks they are to perform. Remembering what a robot has seen, what the rationale was behind the decisions it took or how it ended up understanding the world as it did, are important questions if we want perception capabilities that can scale towards real-world manipulation. We present a robotic perception system that generates perceptual episodic memories during the execution of a task. To allow easy retrieval of these memories we introduce an object and scene description language that serves as a layer of abstraction between the structure of the perception logs and the semantic interpretation of these. The description language can be used through a query interface to retrieve specific parts of the generated episodic memory. The purpose of the proposed system is two-fold: to enable on-line retrospection and specialized training of perception routines and to enable researchers to interactively explore perception results.