Affordance Equivalences in Robotics: A Formalism

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dc.contributor.author Andries, Mihai
dc.contributor.author Chavez-Garcia, Ricardo Omar
dc.contributor.author Chatila, Rajaa
dc.contributor.author Giusti, Alessandro
dc.contributor.author Gambardella, Luca Maria
dc.date.accessioned 2019-05-31T09:27:43Z
dc.date.available 2019-05-31T09:27:43Z
dc.date.copyright 2018 en_US
dc.date.issued 2019-05-31
dc.identifier.issn 1662-5218 en_US
dc.identifier.uri http://hdl.handle.net/10725/10709
dc.description.abstract Automatic knowledge grounding is still an open problem in cognitive robotics. Recent research in developmental robotics suggests that a robot's interaction with its environment is a valuable source for collecting such knowledge about the effects of robot's actions. A useful concept for this process is that of an affordance, defined as a relationship between an actor, an action performed by this actor, an object on which the action is performed, and the resulting effect. This paper proposes a formalism for defining and identifying affordance equivalence. By comparing the elements of two affordances, we can identify equivalences between affordances, and thus acquire grounded knowledge for the robot. This is useful when changes occur in the set of actions or objects available to the robot, allowing to find alternative paths to reach goals. In the experimental validation phase we verify if the recorded interaction data is coherent with the identified affordance equivalences. This is done by querying a Bayesian Network that serves as container for the collected interaction data, and verifying that both affordances considered equivalent yield the same effect with a high probability. en_US
dc.language.iso en en_US
dc.title Affordance Equivalences in Robotics: A Formalism en_US
dc.type Article en_US
dc.description.version Published en_US
dc.author.school SOM en_US
dc.author.idnumber 200902750 en_US
dc.author.department N/A en_US
dc.description.embargo N/A en_US
dc.relation.journal Frontiers in Neurorobotics en_US
dc.journal.volume 12 en_US
dc.identifier.doi https://doi.org/10.3389/fnbot.2018.00026 en_US
dc.identifier.ctation Andries, M., Chavez-Garcia, R. O., Chatila, R., Giusti, A., & Gambardella, L. M. (2018). Affordance equivalences in robotics: a formalism. Frontiers in Neurorobotics, 12, 26. en_US
dc.author.email rajaa.chatila@lau.edu.lb en_US
dc.identifier.tou http://libraries.lau.edu.lb/research/laur/terms-of-use/articles.php en_US
dc.identifier.url https://www.frontiersin.org/articles/10.3389/fnbot.2018.00026/full en_US
dc.orcid.id https://orcid.org/0000-0002-0120-2275 en_US
dc.author.affiliation Lebanese American University en_US

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