Projects per year
Abstract
We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.
Original language | English |
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Journal | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
Volume | 48 |
Issue number | 5 |
Pages (from-to) | 670-692 |
ISSN | 2168-2216 |
DOIs | |
Publication status | Published - 1. May 2018 |
Keywords
- Benchmark testing
- Context
- Planning
- Robot sensing systems
- Semantics
- Trajectory
- Learning by demonstration (LbD)
- object recognition
- robotic assembly
- vision
Related projects
- 1 Finished
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ReconCell: A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs
Krüger, N. (PI), Savarimuthu, T. R. (PI), Buch, A. G. (CoI), Schlette, C. (CoI) & Wiuf Schwartz, L. C. M. (CoI)
01/11/2015 → 31/10/2018
Project: Research