Teaching a Robot the Semantics of Assembly Tasks.

Thiusius Rajeeth Savarimuthu,Anders Glent Buch,Christian Schlette,Nils Wantia, Jurgen Robmann,David Martínez Martínez,Guillem Alenyà,Carme Torras,Ales Ude,Bojan Nemec,Aljaz Kramberger,Florentin Wörgötter,Eren Erdal Aksoy,Jeremie Papon,Simon Haller,Justus H. Piater,Norbert Krüger

IEEE Transactions on Systems, Man, and Cybernetics: Systems（2018）

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摘要

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 representation...

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关键词

Robot sensing systems,Context,Planning,Trajectory,Semantics,Benchmark testing

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