{"id":"https://openalex.org/W2146209206","doi":"https://doi.org/10.1109/iros.2008.4650745","title":"Towards a cognitive robot that uses internal rehearsal to learn affordance relations","display_name":"Towards a cognitive robot that uses internal rehearsal to learn affordance relations","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2146209206","doi":"https://doi.org/10.1109/iros.2008.4650745","mag":"2146209206"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018192958","display_name":"Erdem Erdemir","orcid":"https://orcid.org/0000-0002-1715-9849"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Erdemir","raw_affiliation_strings":["Intelligent Systems, Vanderbilt University, Nashville, TN, USA","Center for Intell. Syst., Vanderbilt Univ., Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Center for Intell. Syst., Vanderbilt Univ., Nashville, TN","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087009248","display_name":"Carl B. Frankel","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.B. Frankel","raw_affiliation_strings":["Psychology Department, Vanderbilt University, Nashville, TN, USA","Center for Intell. Syst., Vanderbilt Univ., Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Psychology Department, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Center for Intell. Syst., Vanderbilt Univ., Nashville, TN","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102863310","display_name":"K. Kawamura","orcid":"https://orcid.org/0009-0001-9729-4492"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Kawamura","raw_affiliation_strings":["Intelligent Systems, Vanderbilt University, Nashville, TN, USA","Center for Intell. Syst., Vanderbilt Univ., Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Center for Intell. Syst., Vanderbilt Univ., Nashville, TN","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062831621","display_name":"Stephen Gordon","orcid":"https://orcid.org/0000-0001-7778-2555"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.M. Gordon","raw_affiliation_strings":["Intelligent Systems, Vanderbilt University, Nashville, TN, USA","Center for Intell. Syst., Vanderbilt Univ., Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Center for Intell. Syst., Vanderbilt Univ., Nashville, TN","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111958233","display_name":"S. Thornton","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Thornton","raw_affiliation_strings":["Intelligent Systems, Vanderbilt University, Nashville, TN, USA","Center for Intell. Syst., Vanderbilt Univ., Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Center for Intell. Syst., Vanderbilt Univ., Nashville, TN","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053626231","display_name":"Baris Ulutas","orcid":"https://orcid.org/0000-0002-9310-1032"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Ulutas","raw_affiliation_strings":["Intelligent Systems, Vanderbilt University, Nashville, TN, USA","Center for Intell. Syst., Vanderbilt Univ., Nashville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Center for Intell. Syst., Vanderbilt Univ., Nashville, TN","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":4.087,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.94721884,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"86","issue":null,"first_page":"2016","last_page":"2021"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.983299970626831,"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":0.982699990272522,"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":0.9543624520301819},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6784939765930176},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6560873985290527},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6513535380363464},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6143754720687866},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6130542159080505},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6044260263442993},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5846364498138428},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5016868114471436},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.5015404224395752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48236697912216187},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.43234798312187195},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.23641550540924072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18522030115127563}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9543624520301819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6784939765930176},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6560873985290527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6513535380363464},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6143754720687866},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6130542159080505},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6044260263442993},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5846364498138428},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5016868114471436},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.5015404224395752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48236697912216187},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.43234798312187195},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.23641550540924072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18522030115127563},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W79953343","https://openalex.org/W291532408","https://openalex.org/W1567800133","https://openalex.org/W1599132676","https://openalex.org/W1933657216","https://openalex.org/W1966109336","https://openalex.org/W2023758701","https://openalex.org/W2040035356","https://openalex.org/W2043385819","https://openalex.org/W2070708245","https://openalex.org/W2093826064","https://openalex.org/W2096917345","https://openalex.org/W2102783898","https://openalex.org/W2116772682","https://openalex.org/W2126483315","https://openalex.org/W2128677288","https://openalex.org/W2129010774","https://openalex.org/W2134194996","https://openalex.org/W2154343617","https://openalex.org/W2157538134","https://openalex.org/W2157904933","https://openalex.org/W2159803848","https://openalex.org/W2168145769","https://openalex.org/W2398140025","https://openalex.org/W3119454252","https://openalex.org/W4285719527","https://openalex.org/W6603384802","https://openalex.org/W6634216339","https://openalex.org/W6635596657","https://openalex.org/W6679505576","https://openalex.org/W6712617335"],"related_works":["https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2963637864"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,21,28,58,124,144],"new":[4],"approach":[5,19],"to":[6,26,67],"develop":[7,27],"robots":[8],"that":[9,60],"can":[10,104],"learn":[11],"general":[12],"affordance":[13,100,141],"relations":[14,42],"from":[15,90],"their":[16],"experiences.":[17,92],"Our":[18],"is":[20],"part":[22],"of":[23,50,57,72,109,123,126,137,143],"larger":[24],"efforts":[25],"cognitive":[29],"robot":[30,37,76,97,103],"and":[31,47,64],"has":[32],"two":[33],"components:":[34],"(a)":[35],"the":[36,48,55,69,75,94,96,102,107],"models":[38],"affordances":[39],"as":[40],"statistical":[41],"among":[43],"actions,":[44],"object":[45],"properties":[46],"effects":[49,63],"actions":[51],"on":[52],"objects,":[53],"in":[54,78,87,119],"context":[56],"goal":[59],"specifies":[61],"preferred":[62],"outcomes,":[65],"(b)":[66],"exploit":[68],"general-knowledge":[70],"potential":[71],"actual":[73,91],"experiences,":[74],"engages":[77],"internal":[79,138],"rehearsal":[80],"by":[81],"playing":[82],"out":[83],"virtual":[84],"scenarios":[85],"grounded":[86],"yet":[88],"different":[89],"To":[93],"extent":[95],"accurately":[98],"appreciates":[99],"relations,":[101],"autonomously":[105],"predict":[106],"outcomes":[108],"its":[110],"behaviors":[111,127],"before":[112],"executing":[113],"them.":[114],"Internal":[115],"rehearsal-based":[116,139],"outcome":[117],"production":[118],"turn":[120],"facilitates":[121],"planning":[122],"sequence":[125],"toward":[128],"successful":[129],"task":[130],"execution.":[131],"We":[132],"also":[133],"report":[134],"simulation":[135],"results":[136],"traversability":[140],"learning":[142],"humanoid":[145],"robot.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}