{"id":"https://openalex.org/W2091713555","doi":"https://doi.org/10.1109/humanoids.2014.7041419","title":"Active learning of affordances for robot use of household objects","display_name":"Active learning of affordances for robot use of household objects","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2091713555","doi":"https://doi.org/10.1109/humanoids.2014.7041419","mag":"2091713555"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100371655","display_name":"Chang Wang","orcid":"https://orcid.org/0000-0003-0161-0591"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["NL","US"],"is_corresponding":true,"raw_author_name":"Chang Wang","raw_affiliation_strings":["Interactive Intelligence Group, Delft University of Technology, CD Delft, The Netherlands","TU Delft Robotics Institute, robotics.tudelft.nl"],"affiliations":[{"raw_affiliation_string":"Interactive Intelligence Group, Delft University of Technology, CD Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"TU Delft Robotics Institute, robotics.tudelft.nl","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071518251","display_name":"Koen V. Hindriks","orcid":"https://orcid.org/0000-0002-5707-5236"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL","US"],"is_corresponding":false,"raw_author_name":"Koen V. Hindriks","raw_affiliation_strings":["Interactive Intelligence Group, Delft University of Technology, CD Delft, The Netherlands","TU Delft Robotics Institute, robotics.tudelft.nl"],"affiliations":[{"raw_affiliation_string":"Interactive Intelligence Group, Delft University of Technology, CD Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"TU Delft Robotics Institute, robotics.tudelft.nl","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084264842","display_name":"Robert Babu\u0161ka","orcid":"https://orcid.org/0000-0001-9578-8598"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["NL","US"],"is_corresponding":false,"raw_author_name":"Robert Babuska","raw_affiliation_strings":["Faculty of Mechanical Engineering, Delft University of Technology, CD Delft, The Netherlands","TU Delft Robotics Institute, robotics.tudelft.nl"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Delft University of Technology, CD Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"TU Delft Robotics Institute, robotics.tudelft.nl","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100371655"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":4.0576,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.94020783,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"566","last_page":"572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9005507230758667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7236751914024353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6777785420417786},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6537946462631226},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5933412313461304},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5907996892929077},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5786690711975098},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5748826265335083},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5610954761505127},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5513132810592651},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.5209416151046753},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.4543525278568268},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4420766234397888},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3240948021411896},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23539921641349792}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9005507230758667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7236751914024353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6777785420417786},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6537946462631226},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5933412313461304},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5907996892929077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5786690711975098},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5748826265335083},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5610954761505127},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5513132810592651},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.5209416151046753},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.4543525278568268},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4420766234397888},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3240948021411896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23539921641349792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W26690283","https://openalex.org/W157606319","https://openalex.org/W1480053368","https://openalex.org/W1486707268","https://openalex.org/W1510402218","https://openalex.org/W1684361744","https://openalex.org/W1754243990","https://openalex.org/W1773652845","https://openalex.org/W1933657216","https://openalex.org/W1975185678","https://openalex.org/W1976018861","https://openalex.org/W1979800131","https://openalex.org/W2006292430","https://openalex.org/W2023758701","https://openalex.org/W2028496760","https://openalex.org/W2043968544","https://openalex.org/W2047191624","https://openalex.org/W2051819074","https://openalex.org/W2065786943","https://openalex.org/W2082711337","https://openalex.org/W2101524054","https://openalex.org/W2102783898","https://openalex.org/W2131797004","https://openalex.org/W2132322793","https://openalex.org/W2132905014","https://openalex.org/W2134831918","https://openalex.org/W2155217025","https://openalex.org/W2164858444","https://openalex.org/W2170051705","https://openalex.org/W2188721763","https://openalex.org/W2286699414","https://openalex.org/W2570764145","https://openalex.org/W2896027395","https://openalex.org/W2903158431","https://openalex.org/W4211008118","https://openalex.org/W4214717370","https://openalex.org/W6628764021","https://openalex.org/W6628902087","https://openalex.org/W6630583786","https://openalex.org/W6637731308","https://openalex.org/W6637954352","https://openalex.org/W6756615331","https://openalex.org/W6812632051"],"related_works":["https://openalex.org/W4401657618","https://openalex.org/W2963178506","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W3106073779"],"abstract_inverted_index":{"Learning":[0],"to":[1,23,78,111,130,134,145],"perform":[2],"household":[3],"tasks":[4],"is":[5,128],"a":[6,44,75,124],"key":[7],"step":[8],"towards":[9],"developing":[10],"cognitive":[11],"service":[12],"robots.":[13],"This":[14],"requires":[15],"that":[16,123,143],"robots":[17],"are":[18,109],"capable":[19],"of":[20,60,115,138],"discovering":[21],"how":[22,133],"use":[24],"human-designed":[25],"products.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"propose":[31],"an":[32,116],"active":[33,86],"learning":[34,50],"approach":[35],"for":[36],"acquiring":[37],"object":[38],"affordances":[39],"and":[40,54,148],"manipulation":[41],"skills":[42,108],"in":[43,51,68],"bottom-up":[45],"manner.":[46],"We":[47,118],"address":[48],"affordance":[49],"continuous":[52],"state":[53],"action":[55,70,80],"spaces":[56],"without":[57],"manual":[58],"discretization":[59],"states":[61,114],"or":[62],"exploratory":[63],"motor":[64,107,152],"primitives.":[65],"During":[66],"exploration":[67,87],"the":[69,72,85,93,98,103],"space,":[71],"robot":[73,126],"learns":[74],"forward":[76,105],"model":[77],"predict":[79],"effects.":[81],"It":[82],"simultaneously":[83],"updates":[84],"policy":[88],"through":[89,120],"reinforcement":[90],"learning,":[91],"whereby":[92],"prediction":[94],"error":[95],"serves":[96],"as":[97],"intrinsic":[99],"reward.":[100],"By":[101],"using":[102],"learned":[104],"model,":[106],"obtained":[110],"achieve":[112],"goal":[113],"object.":[117],"demonstrate":[119],"real-world":[121],"experiments":[122],"humanoid":[125],"NAO":[127],"able":[129],"autonomously":[131],"learn":[132],"manipulate":[135],"two":[136],"types":[137],"garbage":[139],"cans":[140],"with":[141],"lids":[142],"need":[144],"be":[146],"opened":[147],"closed":[149],"by":[150],"different":[151],"skills.":[153]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
