15th European Conference on Artificial Intelligence
  July 21-26 2002     Lyon     France  

ECAI-2002 Conference Paper

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Learning to Ground Fact Symbols in Behavior-Based Robots

Joachim Hertzberg, Herbert Jaeger, Frank Schönherr

A robot running a hybrid control system (its architecture comprising a deliberative and a reactive part) must permanently update its symbolic situation model to allow its ongoing deliberation to operate. Previous work has shown that this update can be improved by using, possibly among other sources, the robot's sensor information as filtered through recent activation value histories of robot behaviors. In that work, characteristic patterns in groups of behavior activation values are used to define chronicles, which allow true facts about the current situation to be hypothesized. Chronicle definitions are hand-crafted as part of the domain modeling. In this paper, we demonstrate that analogs of chronicle definitions can be learned. We use an echo state network, which is a particular type of recurrent neural network. To train it, the same activation value data are used as before in chronicle definitions. The training process is fast. The detection process is cheap to run on-line on board the robot. The new method is demonstrated on data from a robot simulator. It provides the robot programmer an alternative tool for getting recent symbolic situation fact hypotheses.

Keywords: Robotics, Perception, Neural Networks, Machine Learning

Citation: Joachim Hertzberg, Herbert Jaeger, Frank Schönherr: Learning to Ground Fact Symbols in Behavior-Based Robots. In F. van Harmelen (ed.): ECAI2002, Proceedings of the 15th European Conference on Artificial Intelligence, IOS Press, Amsterdam, 2002, pp.708-712.

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ECAI-2002 is organised by the European Coordinating Committee for Artificial Intelligence (ECCAI) and hosted by the Université Claude Bernard and INSA, Lyon, on behalf of Association Française pour l'Intelligence Artificielle.