{"id":"https://openalex.org/W2111034658","doi":"https://doi.org/10.1109/iros.2007.4399469","title":"From primitive behaviors to goal-directed behavior using affordances","display_name":"From primitive behaviors to goal-directed behavior using affordances","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2111034658","doi":"https://doi.org/10.1109/iros.2007.4399469","mag":"2111034658"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11511/34926","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025603635","display_name":"Mehmet R. Do\u011far","orcid":"https://orcid.org/0000-0002-6896-5461"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Mehmet R. Dogar","raw_affiliation_strings":["Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063086622","display_name":"Maya \u00c7akmak","orcid":"https://orcid.org/0000-0001-8457-6610"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Maya Cakmak","raw_affiliation_strings":["Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I182997119","display_name":"Manonmaniam Sundaranar University","ror":"https://ror.org/02qgw5c67","country_code":"IN","type":"education","lineage":["https://openalex.org/I182997119"]}],"countries":["HK","IN"],"is_corresponding":false,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong","The Centre for Information Technology and Engineering, Manonmaniam Sundaranar University, Tirunelveli, India"],"affiliations":[{"raw_affiliation_string":"Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"The Centre for Information Technology and Engineering, Manonmaniam Sundaranar University, Tirunelveli, India","institution_ids":["https://openalex.org/I182997119"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070564886","display_name":"Erol \u015eahi\u0307n","orcid":"https://orcid.org/0000-0002-2993-6879"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I182997119","display_name":"Manonmaniam Sundaranar University","ror":"https://ror.org/02qgw5c67","country_code":"IN","type":"education","lineage":["https://openalex.org/I182997119"]}],"countries":["HK","IN"],"is_corresponding":false,"raw_author_name":"Erol Sahin","raw_affiliation_strings":["Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong","The Centre for Information Technology and Engineering, Manonmaniam Sundaranar University, Tirunelveli, India"],"affiliations":[{"raw_affiliation_string":"Department of Physics and Materials Science, City University of Hong Kong, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"The Centre for Information Technology and Engineering, Manonmaniam Sundaranar University, Tirunelveli, India","institution_ids":["https://openalex.org/I182997119"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025603635"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":5.6309,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.95783008,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"729","last_page":"734"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.988099992275238,"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":0.9582850933074951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7271366715431213},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6807113885879517},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6210035085678101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.611007571220398},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5067482590675354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37135010957717896},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.18324807286262512}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9582850933074951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7271366715431213},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6807113885879517},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6210035085678101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.611007571220398},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5067482590675354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37135010957717896},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.18324807286262512},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:open.metu.edu.tr:11511/34926","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/34926","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:open.metu.edu.tr:11511/34926","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/34926","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1570448133","https://openalex.org/W1776218722","https://openalex.org/W1933657216","https://openalex.org/W1984889945","https://openalex.org/W2021277572","https://openalex.org/W2023758701","https://openalex.org/W2096917345","https://openalex.org/W2099816052","https://openalex.org/W2102783898","https://openalex.org/W2115189708","https://openalex.org/W2116502265","https://openalex.org/W2134831918","https://openalex.org/W2153635508","https://openalex.org/W2155487235","https://openalex.org/W2162850206","https://openalex.org/W3120421331","https://openalex.org/W4301141993","https://openalex.org/W6682961131"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2012639978","https://openalex.org/W2030326659","https://openalex.org/W1559800691","https://openalex.org/W2417026147","https://openalex.org/W2969867523","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"this":[1,30],"paper,":[2],"we":[3,32],"studied":[4],"how":[5],"a":[6,11,34],"mobile":[7],"robot":[8,47],"equipped":[9],"with":[10,67],"3D":[12],"laser":[13],"scanner":[14],"can":[15,57],"start":[16],"from":[17],"primitive":[18,77],"behaviors":[19],"and":[20,62,74,91],"learn":[21],"to":[22,25,84],"use":[23],"them":[24],"achieve":[26,92],"goal-directed":[27],"behaviors.":[28,95],"For":[29],"purpose,":[31],"propose":[33],"learning":[35],"scheme":[36],"that":[37],"is":[38],"based":[39],"on":[40],"the":[41,46,51,60,68,71,75,89],"concept":[42],"of":[43,54,70],"\"affordances\",":[44],"where":[45],"first":[48],"learns":[49],"about":[50],"different":[52],"kind":[53],"effects":[55,66,87],"it":[56],"create":[58,85],"in":[59,88],"environment":[61,73,90],"then":[63],"links":[64],"these":[65,81],"perception":[69],"initial":[72],"executed":[76],"behavior.":[78],"It":[79],"uses":[80],"learned":[82],"relations":[83],"certain":[86],"more":[93],"complex":[94]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}