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This paper deals with the problem of 3D stereo estimation and eye-hand calibration in humanoid robots. We first show how to implement a complete 3D stereo vision pipeline, enabling online and real-time eye calibration. We then introduce a new formulation for the problem of eye-hand coordination. We developed a fully automated procedure that does not require human supervision. The end-effector of the...
One of the recurring challenges in humanoid robotics is the development of learning mechanisms to predict the effects of certain actions on objects. It is paramount to predict the functional properties of an object from “afar”, for example on a table, in a rack or a shelf, which would allow the robot to select beforehand and automatically an appropriate action (or sequence of actions) in order to...
Cross-situational learning is based on the idea that a learner can determine the meaning of a word by finding something in common across all observed uses of that word. Although cross-situational learning is usually modeled through stochastic guessing games in which the input data vary erratically with time (or rounds of the game), here we investigate the possibility of applying the deterministic...
In this paper, we present some recent cognitive robotics studies on language and cognition integration to demonstrate how the language acquired by robotic agents can be directly grounded in action representations. These studies are characterized by the hypothesis that symbols are directly grounded into the agents' own categorical representations, while at the same time having logical (e.g. syntactic)...
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