个人信息Personal Information
副教授
博士生导师
硕士生导师
性别:男
毕业院校:大连理工大学
学位:博士
所在单位:机械工程学院
学科:机械电子工程. 机械制造及其自动化. 机械设计及理论
办公地点:机械学院6116
电子邮箱:liud@dlut.edu.cn
Robotic Episodes Learning for Building Cognitive Experience Map
点击次数:
论文类型:会议论文
发表时间:2015-06-09
收录刊物:EI、CPCI-S、Scopus
页面范围:1210-1215
关键字:mobile robot; episodic memory; experience learning; state neuron
摘要:This paper is about incremental online learning of robotic experience under uncertainty based on biology-inspired episodic memory. The episodic memory-driving Markov decision process (EM-MDP) with a novel episode model is proposed by imitating the firing patterns of hippocampal CA1 neurons, to simulate the organization process of episodic memory. Episodes learning method is presented by utilizing sparse distributed memory (SDM) for building experience map, and the uncertain information of system is considered. The experience map has the bionic cognitive abilities of self-organizing, self-learning and adaptivity based on episodic memory. Experimental results show that the approach has robustness to uncertainty and can realize memory real-time storage, incremental accumulation, integration and updating.