Conceptual Design of the Memory System of the Robot Cognitive
Architecture ArmarX
- URL: http://arxiv.org/abs/2206.02241v1
- Date: Sun, 5 Jun 2022 19:15:29 GMT
- Title: Conceptual Design of the Memory System of the Robot Cognitive
Architecture ArmarX
- Authors: Fabian Peller-Konrad, Rainer-Kartmann, Christian R. G. Dreher, Andre
Meixner, Fabian Reister, Markus Grotz, Tamim Asfour
- Abstract summary: We describe conceptual and technical characteristics such a memory system has to fulfill, together with the underlying data representation.
We extend our robot software framework ArmarX into a unified cognitive architecture that is used in robots of the ARMAR humanoid robot family.
We show how the memory is used by the robots to implement memory-driven behaviors.
- Score: 6.201183690272094
- License: http://creativecommons.org/licenses/by/4.0/
- Abstract: We consider the memory system as a key component of any technical cognitive
system that can play a central role in bridging the gap between high-level
symbolic discrete representations used for reasoning, planning and semantic
scene understanding and low-level sensorimotor continuous representations used
for control. In this work we described conceptual and technical characteristics
such a memory system has to fulfill, together with the underlying data
representation. We identify these characteristics based on the experience we
gained in developing our ARMAR humanoid robot systems and discuss practical
examples that demonstrate what a memory system of a humanoid robot performing
tasks in human-centered environments should support, such as multi-modality,
introspectability, hetero associativity, predictability or an inherently
episodic structure. Based on these characteristics, we extended our robot
software framework ArmarX into a unified cognitive architecture that is used in
robots of the ARMAR humanoid robot family. Further, we describe, how the
development of robot software led us to this novel memory-enabled cognitive
architecture and we show how the memory is used by the robots to implement
memory-driven behaviors.
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