2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 2011
DOI: 10.1109/iros.2011.6094822
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Representation of manipulation-relevant object properties and actions for surprise-driven exploration

Abstract: Abstract-We propose a framework for the sensor-based estimation of manipulation-relevant object properties and the abstraction of known actions in a learning setup from the observation of humans. The descriptors consists of an objectcentric representation of manipulation constraints and a scenespecific action graph. The graph spans between the typical places, where objects are placed. This framework allows to abstract the strongly varying actions of a human operator and to monitor unexpected new actions, that … Show more

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Cited by 6 publications
(12 citation statements)
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“…A representation of such properties has already been presented in [1]. We want to go a step further in this paper.…”
Section: Motivationmentioning
confidence: 97%
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“…A representation of such properties has already been presented in [1]. We want to go a step further in this paper.…”
Section: Motivationmentioning
confidence: 97%
“…The aim contact state is, then, the contact of the object with its final location. Hence, the Functionality Map of [1] can be easily used. Moreover, the contact state perspective has advantages concerning the execution of transportation tasks.…”
Section: Motivationmentioning
confidence: 99%
See 2 more Smart Citations
“…The experiments are processed on two data sets extracted from human actions in manipulation experiments (see [17]). The human transported objects between characteristic places.…”
Section: A Data and Implementationmentioning
confidence: 99%