Behavior-Grounded Representation of Tool Affordances

10 years 3 months ago
Behavior-Grounded Representation of Tool Affordances
Abstract— This paper introduces a novel approach to representing and learning tool affordances by a robot. The tool representation described here uses a behavior-based approach to ground the tool affordances in the behavioral repertoire of the robot. The representation is learned during a behavioral babbling stage in which the robot randomly chooses different exploratory behaviors, applies them to the tool, and observes their effects on environmental objects. The paper shows how the autonomously learned affordance representation can be used to solve tool-using tasks by dynamically sequencing the exploratory behaviors based on their expected outcomes. The quality of the learned representation was tested on extensionof-reach tool-using tasks.
Alexander Stoytchev
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Alexander Stoytchev
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