{"id":"https://openalex.org/W2006292430","doi":"https://doi.org/10.1109/iros.2013.6696676","title":"Robot learning and use of affordances in goal-directed tasks","display_name":"Robot learning and use of affordances in goal-directed tasks","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2006292430","doi":"https://doi.org/10.1109/iros.2013.6696676","mag":"2006292430"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/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"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Chang Wang","raw_affiliation_strings":["Faculty of Electrical Engineering, Delft University of Technology, Delft, CD, The Netherlands","Interactive Intell. Group, Delft Univ. of Technol., Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Interactive Intell. Group, Delft Univ. of Technol., Delft, Netherlands","institution_ids":["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/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Koen V. Hindriks","raw_affiliation_strings":["Faculty of Electrical Engineering, Delft University of Technology, Delft, CD, The Netherlands","Interactive Intell. Group, Delft Univ. of Technol., Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Interactive Intell. Group, Delft Univ. of Technol., Delft, Netherlands","institution_ids":["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"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Robert Babuska","raw_affiliation_strings":["Faculty of Mechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands","Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Center for Systems and Control, Delft University of Technology Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2288","last_page":"2294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9984999895095825,"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":0.9984999895095825,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9979000091552734,"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":0.9933000206947327,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9580621719360352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7477604150772095},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7457277774810791},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6478573679924011},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6427780985832214},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5733954310417175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.523483395576477},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5039157271385193},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4870593845844269},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.48458826541900635},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.47250568866729736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25749000906944275},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12348189949989319}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9580621719360352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7477604150772095},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7457277774810791},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6478573679924011},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6427780985832214},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5733954310417175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.523483395576477},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5039157271385193},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4870593845844269},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.48458826541900635},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.47250568866729736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25749000906944275},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12348189949989319},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":29,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W279183562","https://openalex.org/W1515851193","https://openalex.org/W1521245939","https://openalex.org/W1576269023","https://openalex.org/W1599132676","https://openalex.org/W1659842140","https://openalex.org/W1933657216","https://openalex.org/W1974652642","https://openalex.org/W1987035231","https://openalex.org/W1989101984","https://openalex.org/W2003540906","https://openalex.org/W2023758701","https://openalex.org/W2038289245","https://openalex.org/W2102783898","https://openalex.org/W2103825197","https://openalex.org/W2108359755","https://openalex.org/W2111034658","https://openalex.org/W2115189708","https://openalex.org/W2120216773","https://openalex.org/W2132322793","https://openalex.org/W2151103935","https://openalex.org/W2155217025","https://openalex.org/W2170051705","https://openalex.org/W4214717370","https://openalex.org/W6610201079","https://openalex.org/W6678014439","https://openalex.org/W6812632051","https://openalex.org/W7035853150"],"related_works":["https://openalex.org/W2155217025","https://openalex.org/W2023758701","https://openalex.org/W2134831918","https://openalex.org/W2082711337","https://openalex.org/W2132322793","https://openalex.org/W2091938290","https://openalex.org/W2028798328","https://openalex.org/W2134194996","https://openalex.org/W1984654428","https://openalex.org/W2132905014","https://openalex.org/W1987518424","https://openalex.org/W2546757079","https://openalex.org/W2314354400","https://openalex.org/W2158762525","https://openalex.org/W1979800131","https://openalex.org/W2108157636","https://openalex.org/W2097579122","https://openalex.org/W1966737586","https://openalex.org/W2790919875","https://openalex.org/W1976522970"],"abstract_inverted_index":{"An":[0],"affordance":[1,28],"is":[2,29,88],"a":[3,17,47,52,108,142,155,158],"relation":[4],"between":[5],"an":[6,8,38,133],"object,":[7],"action,":[9],"and":[10,44,57,70,102,114],"the":[11,25,35,64,67,86,124],"effect":[12],"of":[13,24,27,37,49,66,72,99,126],"that":[14,30,51,107],"action":[15,39,100],"in":[16,46,117,141,152],"given":[18,159],"environmental":[19],"context.":[20],"One":[21],"key":[22],"benefit":[23],"concept":[26],"it":[31],"provides":[32],"information":[33],"about":[34],"consequence":[36],"which":[40],"can":[41,112],"be":[42],"stored":[43],"reused":[45],"range":[48],"tasks":[50],"robot":[53,87,110,156],"needs":[54],"to":[55,84,90],"learn":[56,113],"perform.":[58],"In":[59],"this":[60,127],"paper,":[61],"we":[62,105],"address":[63],"challenge":[65],"on-line":[68],"learning":[69,138,144,153],"use":[71,115],"affordances":[73,116,131],"simultaneously":[74],"while":[75],"performing":[76],"goal-directed":[77],"tasks.":[78],"This":[79],"requires":[80],"efficient":[81],"online":[82],"performance":[83],"ensure":[85],"able":[89],"achieve":[91],"its":[92],"goal":[93],"fast.":[94],"By":[95],"providing":[96],"conceptual":[97],"knowledge":[98],"possibilities":[101],"desired":[103],"effects,":[104],"show":[106,149],"humanoid":[109],"NAO":[111],"two":[118],"different":[119],"task":[120],"settings.":[121],"We":[122],"demonstrate":[123],"effectiveness":[125],"approach":[128],"by":[129],"integrating":[130],"into":[132],"Extended":[134],"Classifier":[135],"System":[136],"for":[137],"general":[139],"rules":[140],"reinforcement":[143],"framework.":[145],"Our":[146],"experimental":[147],"results":[148],"significant":[150],"speedups":[151],"how":[154],"solves":[157],"task.":[160]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}