Long Short-Term Memory for Affordances Learning

Sergio Roa, Geert-Jan Kruijff

In: Lola Cañamero , Pierre-Yves Oudeyer , Christian Balkenius (Hrsg.). Proceedings of the 9th International Conference on Epigenetic Robotics. International Conference on Epigenetic Robotics (EpiRob-09) Modeling Cognitive Development in Robotic Systems November 12-14 Venice Italy Seiten 235-236 Lund University Cognitive Studies 146 ISBN 978-91-977-380-7-1 11/2009.


This paper addresses the problem of sensorimotor learning from the perspective of affordances learning of simple objects. We are developing a scenario where a robotic arm interacts with a polyflap, a simple 3-dimensional geometrical object. We perform experiments with a simulated arm using a physics simulator, but we plan to use also a real arm. The robot interacts with the object by pushing it in different ways. We use Recurrent Neural Networks to predict the arm and object poses during this interaction, given a discrete set of random actions that the robot can produce.


RoaKruijffEPIROB09.pdf (pdf, 153 KB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence