Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience

• URL: http://arxiv.org/abs/2409.17702v1
• Date: Thu, 26 Sep 2024 10:16:08 GMT
• Title: Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience
• Authors: Leonard Bärmann, Chad DeChant, Joana Plewnia, Fabian Peller-Konrad, Daniel Bauer, Tamim Asfour, Alex Waibel,
• Abstract summary: We apply large pretrained models to verbalize short (several-minute-long) streams of episodic data. We derive a tree-like data structure from episodic memory (EM), with lower levels representing raw perception and proprioception data. We evaluate our method on simulated household robot data, human egocentric videos, and real-world robot recordings.
• Score: 12.9617156851956
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based systems or fine-tuned deep models to verbalize short (several-minute-long) streams of episodic data, limiting generalization and transferability. In our work, we apply large pretrained models to tackle this task with zero or few examples, and specifically focus on verbalizing life-long experiences. For this, we derive a tree-like data structure from episodic memory (EM), with lower levels representing raw perception and proprioception data, and higher levels abstracting events to natural language concepts. Given such a hierarchical representation built from the experience stream, we apply a large language model as an agent to interactively search the EM given a user's query, dynamically expanding (initially collapsed) tree nodes to find the relevant information. The approach keeps computational costs low even when scaling to months of robot experience data. We evaluate our method on simulated household robot data, human egocentric videos, and real-world robot recordings, demonstrating its flexibility and scalability.

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