A Perceptual Memory System for Affordance Learning in Humanoid Robots

Titelaufnahme

Titel
A Perceptual Memory System for Affordance Learning in Humanoid Robots
Verfasser
Kammer, Marc ; Tscherepanow, Marko ; Schack, Thomas ; Nagai, Yukie
Herausgeber
Honkela, Timo ; Duch, Wlodzislaw ; Girolami, Mark ; Kaski, Samuel
Erschienen
2011
Sprache
Englisch
Dokumenttyp
Konferenzband
Schlagwörter
life-long learning / affordances / cognitive robotics / artificial memory
ISBN
978-3-642-21738-8
URN
urn:nbn:de:0070-pub-22793861
DOI
10.1007/978-3-642-21738-8_45

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Abstract

Memory constitutes an essential cognitive capability of humans and animals. It allows them to act in very complex, non-stationary environments. In this paper, we propose a perceptual memory system, which is intended to be applied on a humanoid robot learning affordances. According to the properties of biological memory systems, it has been designed in such a way as to enable life-long learning without catastrophic forgetting. Based on clustering sensory information, a symbolic representation is derived automatically. In contrast to alternative approaches, our memory system does not rely on pre-trained models and works completely unsupervised.

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