Perception and human interaction for developmental learning of objects and affordances

Serena Ivaldi; Natalia Lyubova; Damien Gerardeaux-Viret; Alain Droniou; Salvatore M. Anzalone; Mohamed Chetouani; David Filliat; Olivier Sigaud

doi:10.1109/HUMANOIDS.2012.6651528

Perception and human interaction for developmental learning of objects and affordances

Serena Ivaldi
, Natalia Lyubova
, Damien Gerardeaux-Viret
, Alain Droniou
, Salvatore M. Anzalone
, Mohamed Chetouani
, David Filliat
, Olivier Sigaud

CEA

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario. The architecture is foundational to the MACSi project: it is designed to support experiments to make a humanoid robot gradually enlarge its repertoire of known objects and skills combining autonomous learning, social guidance and intrinsic motivation. This complex learning process requires the capability to learn affordances first. Here, we present the general framework for achieving these goals, focusing on the elementary action, perception and interaction modules. Preliminary experiments performed on the humanoid robot iCub are also discussed.

Original language	English
Title of host publication	2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012
Pages	248-254
Number of pages	7
DOIs	https://doi.org/10.1109/HUMANOIDS.2012.6651528
Publication status	Published - 1 Dec 2012
Event	2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012 - Osaka, Japan Duration: 29 Nov 2012 → 1 Dec 2012

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012
Country/Territory	Japan
City	Osaka
Period	29/11/12 → 1/12/12

Access to Document

10.1109/HUMANOIDS.2012.6651528

Cite this

Ivaldi, S., Lyubova, N., Gerardeaux-Viret, D., Droniou, A., Anzalone, S. M., Chetouani, M., Filliat, D., & Sigaud, O. (2012). Perception and human interaction for developmental learning of objects and affordances. In 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012 (pp. 248-254). Article 6651528 (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2012.6651528

@inproceedings{c1e4def98e7f405dbc13ddb29a00eb59,

title = "Perception and human interaction for developmental learning of objects and affordances",

abstract = "In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario. The architecture is foundational to the MACSi project: it is designed to support experiments to make a humanoid robot gradually enlarge its repertoire of known objects and skills combining autonomous learning, social guidance and intrinsic motivation. This complex learning process requires the capability to learn affordances first. Here, we present the general framework for achieving these goals, focusing on the elementary action, perception and interaction modules. Preliminary experiments performed on the humanoid robot iCub are also discussed.",

author = "Serena Ivaldi and Natalia Lyubova and Damien Gerardeaux-Viret and Alain Droniou and Anzalone, \{Salvatore M.\} and Mohamed Chetouani and David Filliat and Olivier Sigaud",

year = "2012",

month = dec,

day = "1",

doi = "10.1109/HUMANOIDS.2012.6651528",

language = "English",

isbn = "9781467313698",

series = "IEEE-RAS International Conference on Humanoid Robots",

pages = "248--254",

booktitle = "2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012",

note = "2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012 ; Conference date: 29-11-2012 Through 01-12-2012",

}

Ivaldi, S, Lyubova, N, Gerardeaux-Viret, D, Droniou, A, Anzalone, SM, Chetouani, M, Filliat, D & Sigaud, O 2012, Perception and human interaction for developmental learning of objects and affordances. in 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012., 6651528, IEEE-RAS International Conference on Humanoid Robots, pp. 248-254, 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012, Osaka, Japan, 29/11/12. https://doi.org/10.1109/HUMANOIDS.2012.6651528

Perception and human interaction for developmental learning of objects and affordances. / Ivaldi, Serena; Lyubova, Natalia; Gerardeaux-Viret, Damien et al.
2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012. 2012. p. 248-254 6651528 (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Perception and human interaction for developmental learning of objects and affordances

AU - Ivaldi, Serena

AU - Lyubova, Natalia

AU - Gerardeaux-Viret, Damien

AU - Droniou, Alain

AU - Anzalone, Salvatore M.

AU - Chetouani, Mohamed

AU - Filliat, David

AU - Sigaud, Olivier

PY - 2012/12/1

Y1 - 2012/12/1

N2 - In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario. The architecture is foundational to the MACSi project: it is designed to support experiments to make a humanoid robot gradually enlarge its repertoire of known objects and skills combining autonomous learning, social guidance and intrinsic motivation. This complex learning process requires the capability to learn affordances first. Here, we present the general framework for achieving these goals, focusing on the elementary action, perception and interaction modules. Preliminary experiments performed on the humanoid robot iCub are also discussed.

AB - In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario. The architecture is foundational to the MACSi project: it is designed to support experiments to make a humanoid robot gradually enlarge its repertoire of known objects and skills combining autonomous learning, social guidance and intrinsic motivation. This complex learning process requires the capability to learn affordances first. Here, we present the general framework for achieving these goals, focusing on the elementary action, perception and interaction modules. Preliminary experiments performed on the humanoid robot iCub are also discussed.

U2 - 10.1109/HUMANOIDS.2012.6651528

DO - 10.1109/HUMANOIDS.2012.6651528

M3 - Conference contribution

AN - SCOPUS:84891063910

SN - 9781467313698

T3 - IEEE-RAS International Conference on Humanoid Robots

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BT - 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012

T2 - 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012

Y2 - 29 November 2012 through 1 December 2012

ER -

Ivaldi S, Lyubova N, Gerardeaux-Viret D, Droniou A, Anzalone SM, Chetouani M et al. Perception and human interaction for developmental learning of objects and affordances. In 2012 12th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2012. 2012. p. 248-254. 6651528. (IEEE-RAS International Conference on Humanoid Robots). doi: 10.1109/HUMANOIDS.2012.6651528

Perception and human interaction for developmental learning of objects and affordances

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