Endowing artificial agents with the ability of predicting the consequences of their own
actions and efficiently planning their behaviors based on such predictions is a fundamental …

In this paper, we propose a method that enables a robot to learn not only the existence of
affordances provided by objects, but also the behavioral parameters required to actualize …

Learning to perform household tasks is a key step towards developing cognitive service
robots. This requires that robots are capable of discovering how to use human-designed …

Recently, the aspect of visual perception has been explored in the context of Gibson's
concept of affordances [1] in various ways. We focus in this work on the importance of …

This paper introduces a novel approach to a crucial problem in robotics: Constructing robots
that can learn general affordance relations from their experiences. Our approach has two …

An affordance is a relation between an object, an action, and the effect of that action in a
given environmental context. One key benefit of the concept of affordance is that it provides …

In this paper, we use the notion of affordances, proposed in cognitive science, as a
framework to propose a developmental method that would enable a robot to ground …

The perception of affordances provides an action-centered parametric representation of the
environment. By perceiving an object's visual features in terms of what actions they afford …

A fundamental requirement of any autonomous robot system is the ability to predict the
affordances of its environment. The set of affordances define the actions that are available to …

We present a developmental perspective of robot learning that uses affordances as the link
between sensory-motor coordination and imitation. The key concept is a general model for …