Integrated Adaptive Resonance Theory Neural Model for Episodic Memory with Task Memory for Task Performance of Robots

Abstract

Episodic memory is the memory of personal experiences as episodes with subjective time. Task memory is defined as a memory for storing the knowledge of sequential procedures to perform tasks. Rather than encoding and retrieving such a temporal sequence of events or procedures, respectively, it is more efficient to implement both memories into a single memory model together. For this purpose, this paper proposes an integrated adaptive resonance theory (I-ART) neural model for episodic memory with task memory. The performance of the proposed episodic memory model is confirmed through comparison study with the other methods. And the proposed task memory is applied to perform tasks by Mybot-KSR2, developed in RIT Lab., KAIST.