Episodic Memory Model for Learning Robotic Manipulation Tasks

by   Sanaz Behbahani, et al.

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of being programmed using strict and tedious programming instructions. While deep learning is effective in making robots learn skills, it does not offer a practical route for teaching a complete task, such as assembly or machine tending, where a complex logic must be understood and related sub-tasks need to be performed. We present a model similar to an episodic memory that allows robots to comprehend sequences of actions using single demonstration and perform them properly and accurately. The algorithm identifies and recognizes the changes in the states of the system and memorizes how to execute the necessary tasks in order to make those changes. This allows the robot to decompose the tasks into smaller sub-tasks, retain the essential steps, and remember how they have been performed.


page 7

page 8

page 9


End-User Programming of Low- and High-Level Actions for Robotic Task Planning

Programming robots for general purpose applications is extremely challen...

On Motion Control and Machine Learning for Robotic Assembly

Industrial robots typically require very structured and predictable work...

Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks

Enabling robots to quickly learn manipulation skills is an important, ye...

Cleaning tasks knowledge transfer between heterogeneous robots: a deep learning approach

Nowadays, autonomous service robots are becoming an important topic in r...

Contact Skill Imitation Learning for Robot-Independent Assembly Programming

Robotic automation is a key driver for the advancement of technology. Th...

Dynamic Knowledge Graphs as Semantic Memory Model for Industrial Robots

In this paper, we present a model for semantic memory that allows machin...

A Robot that Learns Connect Four Using Game Theory and Demonstrations

Teaching robots new skills using minimal time and effort has long been a...

Please sign up or login with your details

Forgot password? Click here to reset