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Episodic Memory Verbalization

Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience

Leonard Baermann, Chad DeChant, Joana Plewnia, Fabian Peller-Konrad, Daniel Bauer, Tamim Asfour, et al. · 2025-01-01

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Management
T2 Dynamic Memory
Memory changes during deployment through a stable management policy.
Primary modality
Embodied & 3D
Also: text
Representation
Cross-represented explicit

How experience becomes memory

Each path is one memory component, traced from what is stored to how it is found again.

  1. episodic memory

    1. Represented asSpatial, temporal & cross-modal structured memoryCross-represented explicit
    2. Stored inHierarchical multi-tier store
    3. Retrieved byStructure traversal, Planner / tool-assisted retrieval
    4. Source evidenceSource not retained
    Multimodal experience streams are grouped/summarized into a tree. LLM agent explores history tree for QA/verbalization.Full-paper method / memory representation and retrieval · PDF p. 2 · Figure 1 / method overview

How memory changes (T2 operations)

  • Consolidation · Episodic / hierarchical summarization

    During operation, Episodic Memory Verbalization applies episodic or hierarchical summarization to episodic memory; the memory state changes while the governing update policy remains fixed.

  • Consolidation · Experience abstraction

    History tree grows with ongoing robot experience. For Episodic Memory Verbalization, this specifically supports abstraction of episodes into reusable experience of episodic memory.

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