de.mpg.escidoc.pubman.appbase.FacesBean
Deutsch
 
Hilfe Wegweiser Impressum Kontakt Einloggen
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT

Freigegeben

Konferenzbeitrag

A Kernel-based Approach to Direct Action Perception

MPG-Autoren
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84027

Kroemer,  O
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84135

Peters,  J
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society;

Externe Ressourcen
Es sind keine Externen Ressourcen verfügbar
Volltexte (frei zugänglich)
Es sind keine frei zugänglichen Volltexte verfügbar
Ergänzendes Material (frei zugänglich)
Es sind keine frei zugänglichen Ergänzenden Materialien verfügbar
Zitation

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.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-0013-B77A-D
Zusammenfassung
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.