Teaching a robot the semantics of assembly tasks

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.