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Perception and human interaction for developmental learning of objects and affordances

Serena Ivaldi 1 Natalya Lyubova 2, 3 Damien Gérardeaux-Viret 2, 3 Alain Droniou 1, 4 Salvatore Anzalone 1 Mohamed Chetouani 1 David Filliat 2, 3 Olivier Sigaud 1, 4
3 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
4 AMAC
ISIR - Institut des Systèmes Intelligents et de Robotique
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.
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Serena Ivaldi, Natalya Lyubova, Damien Gérardeaux-Viret, Alain Droniou, Salvatore Anzalone, et al.. Perception and human interaction for developmental learning of objects and affordances. Proc. of the 12th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS, Nov 2012, Santa Monica, United States. ⟨10.1109/HUMANOIDS.2012.6651528⟩. ⟨hal-00755297⟩

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