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hal-00755297, version 1

Perception and human interaction for developmental learning of objects and affordances

Serena Ivaldi 1, Natalya Lyubova 23, Damien Gérardeaux-Viret 23, Alain Droniou 1, Salvatore Anzalone 1, Mohamed Chetouani 1, David Filliat 23, Olivier Sigaud 1

Proc. of the 12th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS (2012) to appear

Résumé : 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.

  • 1 :  Institut des Systèmes Intelligents et de Robotique (ISIR)
  • CNRS : UMR7222 – Université Pierre et Marie Curie (UPMC) - Paris VI
  • 2 :  Unité d'Électronique et d'informatique (UEI)
  • ENSTA ParisTech
  • 3 :  FLOWERS (INRIA Bordeaux - Sud-Ouest)
  • INRIA – ENSTA ParisTech
  • Domaine : Informatique/Robotique
 
  • hal-00755297, version 1
  • oai:hal.archives-ouvertes.fr:hal-00755297
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  • Soumis le : Mercredi 21 Novembre 2012, 22:22:52
  • Dernière modification le : Lundi 16 Juin 2014, 16:44:44