System Integration with Working Memory Management for Robotic Behavior Learning

Abstract

As a robot learns behaviors and task execution, several systems must be in place to allow the robot to store what has been learned as well as to recall learned information. We believe having a long-term memory is essential for our robot to be able to learn tasks and behaviors over time. We also believe that it is important for the robot to have some means of representing the immediate information in the environment. This goes beyond just a world representation and incorporates using short-term memory to track the environment. We have developed a robot that possesses such short-term and long-term memory systems. This robot has been given perceptive abilities with which it can populate its short-term memory and has been taught motion generation as a portion of its long-term memory population. Finally, through the use of a working memory system, we plan to show that our robot can “focus” on pertinent taskrelated information from each of its memory systems in order to learn how to successfully execute tasks. Key Terms – short-term memory, long-term memory, working memory, behavior learning