Differently from animals, robots can record its experience correctly for long time. We propose a novel algorithm that runs a particle filter on the time sequence of the experience. It can be applied to some teach-and-replay tasks. In a task, the trainer controls a robot, and the robot records its sensor readings and its actions. We name the sequence of the record an episode, which is derived from the episodic memory of animals. After that, the robot executes the particle filter so as to find a similar situation with the current one from the episode. If the robot chooses the action taken in the similar situation, it can replay the taught behavior. We name this algorithm the particle filter on episode (PFoE). The robot with PFoE shows not only a simple replay of a behavior but also recovery motion from skids and interruption. In this paper, we evaluate the properties of PFoE with a small mobile robot.
In this paper, we apply bidirectional training to a long short term memory (LSTM) network for the first time. We also present a modified, full gradient version of the LSTM learning algorithm. We discuss the significance of framewise phoneme classification to continuous speech recognition, and the validity of using bidirectional networks for online causal tasks. On the TIMIT speech database, we measure the framewise phoneme classification scores of bidirectional and unidirectional variants of both LSTM and conventional recurrent neural networks (RNNs). We find that bidirectional LSTM outperforms both RNNs and unidirectional LSTM.  Tying suture knots is a time-consuming task performed frequently during Minimally Invasive Surgery (MIS). Automating this task could greatly reduce total surgery time for patients. Current solutions to this problem replay manually programmed trajectories, but a more general and robust approach is to use supervised machine learning to smooth surgeon-given training trajectories and generalize from them. Since knottying generally requires a controller with internal memory to distinguish between identical inputs that require different actions at different points along a trajectory, it would be impossible to teach the system using traditional feedforward neural nets or support vector machines. Instead we exploit more powerful, recurrent neural networks (RNNs) with adaptive internal states. Results obtained using LSTM RNNs trained by the recent Evolino algorithm show that this approach can significantly increase the efficiency of suture knot tying in MIS over preprogrammed control.