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 GMM library already in iCub. GMMs have the advantage of quickly learning high dimensional non-linear mappings. For motor actions we modify the Action Primitives library.

Vision, state estimation and data association will be done with IQR and some other bits (guys?).

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 with the object for a bit.

Interfaces

Vision interface

TBD

Poking interface

Learning interface

Controller