Behavior-Grounded Representation of Tool Affordances

Behavior-Grounded Representation of Tool Affordances


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 extension-of-reach tool-using tasks.


BibTeX Entry

  author =     {Alexander Stoytchev},
  title =      {Behavior-Grounded Representation of Tool Affordances},
  booktitle =  {Proceedings of IEEE International Conference on Robotics and Automation (ICRA)},
  year =       2005,
  pages =      {3071-3076},

MPEG Movies from the Robot Experiments

MPEG Movies from the Dynamics Simulator

Exploratory Behaviors

Last Modified: Jan 23, 2005 by Alexander Stoytchev