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. Index Terms-Behavior-based robotics, tool affordances, learning of affordances, autonomous tool use.
Stoytchev presents an approach to learn tool affordances for robotic tool use REF .
Behavior-Grounded Representation of Tool Affordances
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Engineering Computer Science