Experience Memory
Experience Memory records the context of use in Teach-and-Grow Learning: the task, the blocks that were selected, the observations, the outcome, the diagnosis, and the repair. It is what lets a later decision reuse the conditions surrounding a behaviour, not only the behaviour itself.
Why behaviour and context are stored separately
Solving an episode and acquiring a lasting capability are different events. The Skill Library holds what can be executed; Experience Memory holds why it was chosen and what happened. A failed attempt may reveal an unsuitable grasp family, an ambiguous observation, or a calibration problem — an explanation that guides the next selection without turning every episode into a new executable block.
What it changes
Memory changes the next decision rather than the next action directly. When a similar situation recurs, the recorded outcome and diagnosis inform which block is retrieved and which recovery is prepared. This is the mechanism by which a trial becomes useful beyond the episode in which it occurred.
Keeping it inspectable
The records are searchable, versioned and human-editable. That matters because a robot operating over time accumulates conditions that no single demonstration covers — unusual contact, an ambiguous view, a gripper that behaves differently after a change. Keeping the explanation alongside the outcome makes those cases addressable instead of merely repeated.
Bounded claim
Recording an explanation does not guarantee better behaviour. The paper treats memory as an input to selection and recovery, and reports studies on how feedback changes decisions; it does not claim that retained context alone produces improvement.