Mobile Robot Learning of Delayed Response Tasks Through Event Extraction: A Solution to the Road Sign Problem and Beyond

Abstract

We show how event extraction can be used for handling delayed response tasks with arbitrary delay periods between the stimulus and the cue for response. Our approach is based on a number of information processing levels, where the lowest level works on raw time-stepped based sensory data. This data is classified using an unsupervised clustering mechanism. The second level works on this classified data, but still on the individual time-step basis. An event extraction mechanism detects and signals transitions between classes; this forms the basis for the third level. As this level only is updated when events occur, it is independent of the time-scale of the lower level interaction. We also sketch how an event filtering mechanism could be constructed which discards irrelevant data from the event stream. Such a mechanism would output a fourth level representation which could be used for delayed response tasks where irrelevant, or distracting, events could occur during the delay.