Learning task-oriented grasping for tool manipulation from simulated self-supervision
Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires
reasoning about the desired effect of the task and, thus, properly grasping and manipulating …
reasoning about the desired effect of the task and, thus, properly grasping and manipulating …
Affordances for robots: a brief survey
TE Horton, A Chakraborty, RS Amant - AVANT. Pismo Awangardy …, 2012 - ceeol.com
In this paper, we consider the influence of Gibson's affordance theory on the design of
robotic agents. Affordance theory (and the ecological approach to agent design in general) …
robotic agents. Affordance theory (and the ecological approach to agent design in general) …
A systematic review on reinforcement learning-based robotics within the last decade
Robotics is one of the many tools that is making a substantial difference as the world is
experiencing the fourth industrial revolution. To ease control over this engineering marvel …
experiencing the fourth industrial revolution. To ease control over this engineering marvel …
Affordances in psychology, neuroscience, and robotics: A survey
The concept of affordances appeared in psychology during the late 60s as an alternative
perspective on the visual perception of the environment. It was revolutionary in the intuition …
perspective on the visual perception of the environment. It was revolutionary in the intuition …
Affordance research in developmental robotics: A survey
H Min, R Luo, J Zhu, S Bi - IEEE Transactions on Cognitive …, 2016 - ieeexplore.ieee.org
Affordances capture the relationships between a robot and the environment in terms of the
actions that the robot is able to perform. The notable characteristic of affordance-based …
actions that the robot is able to perform. The notable characteristic of affordance-based …
Staged development of robot skills: Behavior formation, affordance learning and imitation with motionese
Inspired by infant development, we propose a three staged developmental framework for an
anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic …
anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic …
Modular active curiosity-driven discovery of tool use
S Forestier, PY Oudeyer - 2016 IEEE/RSJ international …, 2016 - ieeexplore.ieee.org
This article studies algorithms used by a learner to explore high-dimensional structured
sensorimotor spaces such as in tool use discovery. In particular, we consider goal babbling …
sensorimotor spaces such as in tool use discovery. In particular, we consider goal babbling …
A simple ontology of manipulation actions based on hand-object relations
Humans can perform a multitude of different actions with their hands (manipulations). In
spite of this, so far there have been only a few attempts to represent manipulation types …
spite of this, so far there have been only a few attempts to represent manipulation types …
Self-supervised learning of grasp dependent tool affordances on the icub humanoid robot
The ability to learn about and efficiently use tools constitutes a desirable property for general
purpose humanoid robots, as it allows them to extend their capabilities beyond the …
purpose humanoid robots, as it allows them to extend their capabilities beyond the …
Force-and-motion constrained planning for tool use
R Holladay, T Lozano-Pérez… - 2019 IEEE/RSJ …, 2019 - ieeexplore.ieee.org
The use of hand tools presents a challenge for robot manipulation in part because it calls for
motions requiring continuous force application over a whole trajectory, usually involving …
motions requiring continuous force application over a whole trajectory, usually involving …