ICub capabilities

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The correct title of this article is iCub capabilities. The initial letter is shown capitalized due to technical restrictions.

Back to iCub YARP module specifications

Code Scenario Capabilities: cognitive perception/action behaviours

C1   Object tracking through occlusion (combining smooth pursuit and saccades)
C2   Learn to coordinate VOR & tracking 
C3   Learn to reach towards a fixation point 
C4   Attention and action selection by modulation of capabilities
C5   Conditioning of modulation based on anticipation / prospection
C6   Construct sensorimotor maps & cross-modal maps
C7   Learning by demonstration (crawling and constrained reaching)
C8   Exploratory, curiousity-driven, action
C9   Experience-based action selection based on interaction histories
C10  Crawl and navigate based on local landmarks and ego-centric representations

Quasi-Independent Phylogenetic Capabilities

C11  Saccadic direction of gaze towards salient events (visual, auditory, tactile)
C12  Focus attention and direct gaze on human faces (features, movements, sounds)
C13  Ocular modulation of head pose so that head pose is adjusted to centre eye gaze
C14  Move the hand(s) towards the centre of the visual field
C15  Stabilization of saccadic perception of a static environment by a moving agent
C16  Stabilize the percepts arising from moving scenes through successive saccades (opto-kinetic nystagmus)
C17  Stabilization of gaze with respect to self-motion (VOR) 
C18  Create attention-grabbing stimuli (vocal acts, physical acts, e.g. initiation of eye-contact, etc.)
C19  Gait control

Component Capabilities: re-usable general purpose sensor and control utility functions

C20  Computation of optical flow
C21  Computation of visual motion with ego-motion compensation
C22  Segmentation of the flow-field based on similarity/dissimilarity of region flow parameters
C23  Object segmentation based on the presence of a temporally-persistent boundary
C24  Fixation and vergence
C25  Gaze control: smooth pursuit (with prediction); possibly tuned by learning
C26  Classification of groups of entities based on number (1, 2, and 3), independent of modality
C27  Classification of groups of entities based on gross quantity, independent of modality
C28  Detection of mutual gaze
C29  Detection of biological motion
C30  Other: please specify

Back to iCub YARP module specifications