Learning Object Affordances for Planning
نویسندگان
چکیده
We use the notion of affordances as a framework to propose a developmental method that enables a robot to ground symbolic planning mechanisms in its continuous sensorimotor experiences. The method allows the robot to learn object affordance relations which can be used to predict the change in the percept of the object when a certain behavior is applied. Our robot experiments has shown that a robot with limited manipulation capability is able to learn the affordances of objects and use them to build symbols that can be used in making multi-step predictions about the affordances of objects and achieve complex tasks. This paper presents the proposed developmental method and the experimental results obtained with it. In addition, the ongoing work for the application of this method to humanoid robots is briefly discussed.
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