Abstract
We present EMISSOR: a platform to capture multimodal interactions as recordings of episodic experiences with explicit referential interpretations that yield an episodic Knowledge Graph (eKG). The platform stores streams of multiple modalities as parallel signals. Each signal is segmented and annotated independently with interpretation. Annotations are eventually mapped to explicit identities and relations in the eKG. As we ground signal segments from different modalities to the same instance representations, we also ground different modalities across each other. Unique to our eKG is that it accepts different interpretations across modalities, sources and experiences and supports reasoning over conflicting information and uncertainties that may result from multimodal experiences. EMISSOR can record and annotate experiments in virtual and real-world, combine data, evaluate system behavior and their performance for preset goals but also model the accumulation of knowledge and interpretations in the Knowledge Graph as a result of these episodic experiences.