Predicting future object states using learned affordances

Abstract—The notion of affordances was proposed by J.J. Gibson, to refer to the action possibilities offered to the organism by its environment. In a previous formalization, affordances are defined as general relations that pertain to the robot-environment interaction and can be represented as triples which consist of the initial percept of the environment, the behavior applied and the effect produced. In this paper, we focus on object affordances and propose a developmental method that would enable the robot to ground symbolic object-based operators in its own continuous sensory-motor experiences. The method allows the robot to learn the object affordance relations which can be used to predict the change in the percept of the object when a certain behavior is applied.

• Type: Conference
• Year: 2009
• Where: ISCIS
• Authors: Emre Ugur, Erol Sahin, Erhan Oztop
• Keywords: Information Management, ISCIS 2009, Object Affordance, Object Affordance Relations, Symbolic Object-based Operators