iCub cleaning the table, for which it uses previously learned models of tool affordances, automatic tool recognition and pose detection, object segmentation and full/empty hand classification to achieve its task.
Publications
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What can I do with this tool? Self-supervised learning of tool affordances from their 3D geometry. Tanis Mar, Vadim Tikhanoff, Lorenzo Natale. Cognitive and Developmental Systems, IEEE Transactions on, 2017
Enabling depth-driven visual attention on the iCub humanoid robot: instructions for use and new perspectives. Giulia Pasquale, Tanis Mar, Carlo Ciliberto, Lorenzo Rosasco, Lorenzo Natale. Frontiers in Robotics and AI 3 (35).
Optimization of ECG classification by means of feature selection. Tanis Mar, Sebastian Zaunseder, Juan Pablo Martínez, Mariano Llamedo, Ruediger Poll. Biomedical Engineering, IEEE Transactions on 58 (8), 2168-2177.
Conference |
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Self-supervised learning of tool affordances from 3D tool representation through parallel SOM mapping. Tanis Mar, Vadim Tikhanoff, Lorenzo Natale. Robotics and Automation (ICRA), Singapore 2017.
Multi-model approach based on 3D functional features for tool affordance learning in robotics. Tanis Mar, Vadim Tikhanoff, Giorgio Metta, Lorenzo Natale. Humanoid Robots (Humanoids), Seoul, 2015.
Self-supervised learning of grasp dependent tool affordances on the iCub Humanoid robot. Tanis Mar, Vadim Tikhanoff, Giorgio Metta, Lorenzo Natale. Robotics and Automation (ICRA), Seattle 2015, 3200-3206.
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