Figure 4.

Episodic-Like Memory ELM, Synthetic Semantic Memory SSM. Recursive reasoning for creating knowledge. (Left) First level of reasoning: the iCub retrieves the events in the ELM, and discovers the associated meanings, by using clustering to detect regularities that co-occur with spatial and temporal terms. (Right) 2nd to nth level of reasoning: Retro-reasoning: Once the first level of knowledge has been created, it can be reinjected back into the EML, and the next levels are developed in a loop that will use the previous level of knowledge created as new data, to create the next level of knowledge. From Petit et al. (2016).