The Aspect Transition Graph: An Affordance-Based Model

Li Yang Ku, Shiraj Sen, Erik G. Learned-Miller, Roderic A. Grupen

Abstract: In this work we introduce the Aspect Transition Graph (ATG), an affordance-based model that is grounded in the robot’s own actions and perceptions. An ATG summarizes how observations of an object or the environment changes in the course of interaction. Through the Robonaut 2 simulator, we demonstrate that by exploiting these learned models the robot can recognize objects and manipulate them to reach certain goal state.