Learning to Forget -- Hierarchical Episodic Memory for Lifelong Robot Deployment
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perception quickly exceeds storage limits and makes real-time query impractical, calling for selective forgetting that adapts to users' notions of relevance. We present H$^2$-EMV, a framework enabling humanoids to learn what to remember through user interaction. Our approach incrementally constructs hierarchical EM, selectively forgets using language-model-based relevance estimation conditioned on learned natural-language rules, and updates these rules given user feedback about forgotten details. Eval...
| Authors | Leonard Bärmann, Joana Plewnia, Alex Waibel et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 April 2026 |
| Last updated at source | 5 May 2026 |
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