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  A Kernel-based Approach to Direct Action Perception

Kroemer, O., Ugur E, Oztop, E., & Peters, J. (2012). A Kernel-based Approach to Direct Action Perception. In IEEE International Conference on Robotics and Automation (ICRA 2012) (pp. 2605-2610). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B77A-D Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B77B-B
Genre: Conference Paper

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 Creators:
Kroemer, O1, Author           
Ugur E, Oztop, E, Author
Peters, J1, 2, Author           
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              

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 Abstract: The direct perception of actions allows a robot to predict the afforded actions of observed objects. In this paper, we present a non-parametric approach to representing the affordance-bearing subparts of objects. This representation forms the basis of a kernel function for computing the similarity between different subparts. Using this kernel function, together with motor primitive actions, the robot can learn the required mappings to perform direct action perception. The proposed approach was successfully implemented on a real robot, which could then quickly learn to generalize grasping and pouring actions to novel objects.

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 Dates: 2012-05
 Publication Status: Issued
 Pages: -
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 Identifiers: URI: http://www.icra2012.org/
DOI: 10.1109/ICRA.2012.6224957
BibTex Citekey: KroemerUOP2012
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2605 - 2610 Identifier: -