© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

We present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level represen- tation based on so-called “semantic event chains.” We describe details of the representations and quantify the effect of the asso- ciated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the over- all system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

Peer Reviewed