Teaching a Robot the Semantics of Assembly Tasks
提出一个三层认知系统，通过示范学习让机器人掌握装配任务的语义，并在传感器运动层和规划层实现学习与迁移，用语义事件链连接不同层的数据结构。
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.