Procedural Memory Learning from Demonstration for Task Performance
Procedural Memory Learning from Demonstration for Task Performance
复制标题
从任务表现演示中学习程序记忆
DOI：
10.1109/smc.2015.426
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Jong
中科院分区：
文献类型：
--
作者：
Yong;Jong
一个机器人被期望用它自己的知识系统自主地执行一项任务。使用知识系统，机器人可以识别当前的情况，并回忆一个适当的序列，在这种情况下执行适当的任务。为了构建这样的知识系统，机器人从用户演示中学习知识，就像孩子通过与父母和老师的互动学习一样。用户演示由嵌入机器人的RGBD相机捕获。机器人需要从连续的RGB-D流中分割每个执行。在本文中，每个执行由一个对象和对该对象执行的动作组成。执行序列或程序应存储在机器人的存储器中，以便机器人在以后类似的情况下检索并执行该程序。这种程序存储器是基于自适应谐振系统开发的。使用学习的过程记忆，机器人可以执行任务的全部序列，只有部分信息的执行。所提出的方案的有效性证明了四个任务，通过计算机模拟。
A robot is expected to carry out a task autonomously with its own knowledge system. Using the knowledge system, the robot can recognize current situation and recall a proper sequence for performing an appropriate task in that situation. To build such knowledge system, the robot learns the knowledge from user demonstrations as if a child learns through interactions with parents and teachers. User demonstration is captured by an RGBD camera embedded the robot. The robot needs to segment each execution from continuous RGB-D streams. In this paper, each execution is composed of an object and an action performed on the object. The sequence of executions, or the procedure, should be stored in the robot's memory for the the robot to retrieve and execute the procedure in a similar situation later. Such a procedural memory is developed based on an adaptive resonance system. Using the procedural memory learned, the robot can perform the full sequences of tasks with only partial information given on executions. The effectiveness of the proposed scheme is demonstrated for four tasks through computer simulations.
海马体的简单神经网络模型表明其在情景记忆检索中的寻路作用。
DOI：
10.1101/lm.85205
发表时间：
2005
期刊：
Learning & memory (Cold Spring Harbor, N.Y.)
影响因子：
--
作者：
Samsonovich,AlexeiV;Ascoli,GiorgioA
通讯作者：
Ascoli,GiorgioA