Affordances and Emergence of Concepts

Atıl I., Dağ N., Kalkan S., Şahin E.

Proceedings of the Tenth International Conference on Epigenetic Robotics , Lund, Sweden, 5 - 07 November 2010, pp.1-8

  • Publication Type: Conference Paper / Full Text
  • City: Lund
  • Country: Sweden
  • Page Numbers: pp.1-8


In this paper, we used the affordance formalization framework (Sahin et al; Adaptive Behavior, 15(4), 447-472, 2007) to link the concepts represented by verbs and nouns in language to the affordance relations that a robot acquires through its interaction with the environment. First, we argued that a verb is linked not to a specific behavior of the robot, but to a specific effect that different behaviors may generate. We showed how demonstrations made by a human can allow the robot to learn an effect prototype in its own sensorymotor space, and use this to command the robot to achieve desired goals. Second, we investigated how the affordance relations of objects can be used to create noun concepts (to name objects) and how multi-task learning can utilize the learned object concepts to facilitate the learning of new affordances. The results are demonstrated on an iCub humanoid robot platform.