VVV10 iFumble

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Our robot will learn "affordances", sort of.

It will infer an object from its appearance. Then it will learn how that appearance predicts how the object responds to actions directed towards that object.

What it will learn is a mapping from object and action to consequence. We propose to represent the approximately 10d object, action, state mapping using and modifying the /html/classMathLib_1_1GaussianMixture.html#a5930a72b2e0bc878f79a6c8280c7093a GMM library already in iCub. For motor actions we modify the Action Primitives library.

As a final demo, it will play "golf" with the object to get it to a target location - hopefully it will do this at above random capability after learning.


Vision interface


Poking interface

Learning interface