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The aspect transition graph: An affordance-based model

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (2015) 8926 459-465
DOI: 10.1007/978-3-319-16181-5_36
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Abstract

In thisworkwe introduce the AspectTransition Graph (ATG), an affordance-basedmodel that is grounded in the robot’s own actions and perceptions. An ATG summarizes how observations of an object or the environment changes in the course of interaction. Through the Robonaut 2 simulator, we demonstrate that by exploiting these learned models the robot can recognize objects and manipulate them to reach certain goal state.

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Ku, L. Y., Sen, S., Learned-Miller, E. G., & Grupen, R. A. (2015). The aspect transition graph: An affordance-based model. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8926, pp. 459–465). Springer Verlag. https://doi.org/10.1007/978-3-319-16181-5_36

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