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STAM: A Framework for Spatio-Temporal Affordance Maps | | Francesco Riccio
; Roberto Capobianco
; Marc Hanheide
; Daniele Nardi
; | | Date: |
1 Jul 2016 | | Abstract: | Affordances have been introduced in literature as action opportunities that
objects offer, and used in robotics to semantically represent their
interconnection. However, when considering an environment instead of an object,
the problem becomes more complex due to the dynamism of its state. To tackle
this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and
Spatio-Temporal Affordance Map (STAM). Using this formalism, we encode action
semantics related to the environment to improve task execution capabilities of
an autonomous robot. We experimentally validate our approach to support the
execution of robot tasks by showing that affordances encode accurate semantics
of the environment. | | Source: | arXiv, 1607.0354 | | Services: | Forum | Review | PDF | Favorites | |
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