Publication

Teaching a robot the semantics of assembly tasks

Journal Article (2017)

Journal

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Doc link

http://dx.doi.org/10.1109/TSMC.2016.2635479

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Download the digital copy of the doc pdf document

Authors

Projects associated

Abstract

We present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing 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 represen- tation based on so-called “semantic event chains.” We describe details of the representations and quantify the effect of the asso- ciated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the over- all 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.

Categories

artificial intelligence, learning (artificial intelligence), manipulators.

Scientific reference

S. Thiusius, B. Anders, S. Christian, N. Wantia, J. Rossmann, D. Martínez, G. Alenyà, C. Torras, U. Ales, N. Bojan, K. Aljaž, F. Wörgötter, E.E. Aksoy, J. Papon, S. Haller, J. Piater and N. Krüger. Teaching a robot the semantics of assembly tasks. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, to appear.