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Storing and Retrieving Perceptual Episodic Memories for Long-term Manipulation Tasks

Ferenc, Bálint-Benczédi and Marton, Zoltan-Csaba and Durner, Maximilian and Beetz, Michael (2017) Storing and Retrieving Perceptual Episodic Memories for Long-term Manipulation Tasks. In: International Conference on Advanced Robotics, Proceedings, ICAR. IEEE. ICAR 2017 - 18th International Conference on Advanced Robotics, 10-12 July 2017, Hong Kong, China. DOI: 10.1109/ICAR.2017.8023492 ISBN 978-1-5386-3157-7

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Official URL: http://ieeexplore.ieee.org/document/8023492/

Abstract

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.

Item URL in elib:https://elib.dlr.de/117601/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Finalist for Best Paper Award
Title:Storing and Retrieving Perceptual Episodic Memories for Long-term Manipulation Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ferenc, Bálint-Benczédibalintbe (at) cs.uni-bremen.deUNSPECIFIED
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Durner, Maximilianmaximilian.durner (at) dlr.dehttps://orcid.org/0000-0001-8885-5334
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:July 2017
Journal or Publication Title:International Conference on Advanced Robotics, Proceedings, ICAR
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICAR.2017.8023492
Publisher:IEEE
ISBN:978-1-5386-3157-7
Status:Published
Keywords:Semantics, Robot sensing systems, Databases, Visualization, Database languages, Data structures
Event Title:ICAR 2017 - 18th International Conference on Advanced Robotics
Event Location:Hong Kong, China
Event Type:international Conference
Event Dates:10-12 July 2017
Organizer:The Chinese University of Hong Kong, China
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Durner, Maximilian
Deposited On:19 Dec 2017 11:08
Last Modified:19 Dec 2017 11:08

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