Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 48, Issue 5, Pages 670-692Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2016.2635479
Keywords
Learning by demonstration (LbD); object recognition; robotic assembly; vision
Funding
- EU Project IntellAct [FP7-ICT-269959]
- H2020 Project ReconCell [H2020-FoF-680431]
Ask authors/readers for more resources
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.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available