… allows the robot to discover causal relationships in the … 2 we discuss related work on the
discovery of object affordances, and … affordances. Experimental results are presented in Sect. 4. …

… Second, the robot must be able to choose which one of the affordances to execute next. …
to manipulation. Our object representation exposes the structure of the pile and the affordances …

… Before presenting the main conceptions of affordances and tool use, we will begin by …
of affordance in the field of human tool use, and particularly in the frame of the manipulation-based …

… Thus, rather than relying on simple observation of others’ public presentations, such perceivers
may be more likely to test to discover affordances and targets’ “true” characteristics. Thus…

… of afforded actions leads to discovery … an object in a direct manipulation system might
make a sound indicating its size and type, and thus reveal affordances which depend on these …

… discovery and learning of manipulations for an object is addressed. The concept of
manipulation affordances is … Generalisation is then performed by referencing affordances from …

… , during which the robot manipulates objects in the environment… of affordances in the literature,
we view an affordances model as … In the following section we describe how to discover the …

… manipulation sequences by translating affordances to action primitives given a goal. Several
robotic manipulation … approach translates to actual manipulation for an embodied robotic …

… affordances are ranked by KL-divergence, augmenting the available affordance choices for
manipulation … The benefits of discovering and ranking multiple affordances of object parts will …

… discover the functionality of even unfamiliar objects though a mixture of learned visual priors
and exploratory manipulation… experience to quickly discover the affordance landscape. Our …