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Self-Assessment of Grasp Affordance Transfer [article]

Paola Ardón, Èric Pairet, Ronald P. A. Petrick, Subramanian Ramamoorthy, Katrin S. Lohan
2020 arXiv   pre-print
The library is later queried to perform one-shot transfer estimation of the best grasp configuration on new objects.  ...  We visually detect a grasp affordance region to extract multiple grasp affordance configuration candidates.  ...  Fig. 2 : Proposed framework for self-assessment of grasp affordance transfer.  ... 
arXiv:2007.02132v1 fatcat:fb45gbb36zcxfnbtby64cum5bq

Self-Assessment of Grasp Affordance Transfer

Paola Ardon, Eric Pairet, Yvan Petillot, Ronald P. A. Petrick, Subramanian Ramamoorthy, Katrin S. Lohan
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this work, we present a pipeline for selfassessment of grasp affordance transfer (SAGAT) based on prior experiences.  ...  The library is later queried to perform one-shot transfer estimation of the best grasp configuration on new objects.  ...  Fig. 2 : Proposed framework for self-assessment of grasp affordance transfer.  ... 
doi:10.1109/iros45743.2020.9340841 fatcat:vl3nl2u72rdmtheqq3ezypt5au

Affordance Realization in Climbing: Learning and Transfer

Ludovic Seifert, Dominic Orth, Bruno Mantel, Jérémie Boulanger, Romain Hérault, Matt Dicks
2018 Frontiers in Psychology  
to afford horizontal hold grasping, (ii) a vertical-edge route (V) afforded vertical hold grasping, and (iii), a double-edge route (D) was designed to afford both horizontal and vertical hold grasping  ...  a learning and transfer protocol.  ...  This project also received the funding of the French National Agency of Research (ID: ANR-17-CE38-0006 DynACEV) and the French Federation of Mountain Alpine Club (FFCAM).  ... 
doi:10.3389/fpsyg.2018.00820 pmid:29892251 pmcid:PMC5985557 fatcat:hkfnuebs5zbrnhcsexsafcjtdi

Hold design supports learning and transfer of climbing fluency

Dominic Orth, Keith Davids, Ludovic Seifert
2014 Sports Technology  
Transfer of climbing fluidity in terms of the geometric index of entropy (GIE) of the hip trajectory was then tested.  ...  Hold design supports learning and transfer of climbing fluency. Sports Technology, 7 (3-4), 159-165.  ...  Acknowledgments This project received the support of the CPER/GRR1880 Logistic, Mobility and Numeric and the funding of the French National Agency of Research (reference: ANR-13-JSH2-0004 DynaMov).  ... 
doi:10.1080/19346182.2014.968167 fatcat:hheodvlthjfvrl3vrxrwcxcqvq

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation [article]

Bowen Wen and Wenzhao Lian and Kostas Bekris and Stefan Schaal
2021 arXiv   pre-print
transferring task-relevant grasps to novel instances.  ...  Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps.  ...  Affordance Self-Discovery In contrast to prior work [7] , which manually annotates parts of segments, or uses predefined sparse keypoints [8] , this work discovers grasp affordance via selfinteraction  ... 
arXiv:2109.09163v1 fatcat:tdda6rlxcraq3hofmlst455h3q

Systems in development: Motor skill acquisition facilitates three-dimensional object completion

Kasey C. Soska, Karen E. Adolph, Scott P. Johnson
2010 Developmental Psychology  
Further analyses revealed that self-sitting facilitated infants' visual inspection of objects while they manipulated them.  ...  Infants' self-sitting experience and visual-manual exploratory skills predicted looking at the novel, incomplete object on the habituation task.  ...  We used an analysis of covariance to assess the effects of self-sitting on the frequency of manual exploration with and without accompanying visual inspection.  ... 
doi:10.1037/a0014618 pmid:20053012 pmcid:PMC2805173 fatcat:3hkv5dcq7zfuvbnjvdernkhzsa

The conductive environment enhances gross motor function of girls with Rett syndrome. A pilot study

Meir Lotan, Rony Schenker, Judy Wine, Jenny Downs
2012 Developmental Neurorehabilitation  
Objective: Assessing functional abilities of individuals with RTT due to CE intervention Design: A single subject, AB design.  ...  Method: This study assessed the functional skills of three girls with RTT aged 3, 4 and 5 years before and during participation in a Conductive Education program.  ...  Declaration of interest The authors hereby declare that there are no financial or other relationships that might lead to a conflict of interest.  ... 
doi:10.3109/17518423.2011.629374 pmid:22256830 fatcat:dubqahiknjfyba3y25wdsxntle

Constraints representing a meta-stable régime facilitate exploration during practice and transfer of learning in a complex multi-articular task

Dominic Orth, Keith Davids, Ludovic Seifert
2018 Human Movement Science  
The purpose of this paper was to test a number of conditions applying these design principles on performance during skills practice and transfer.  ...  At the end of the final session, climbers undertook a transfer test. Routes, matched for difficulty, were manipulated in terms of hand-hold design.  ...  This latter route was considered to represent meta-stability as it afforded the choice of two grasping actions at each hold i.e. those grasping actions supported by Route-1 and Route-2 (see Figure 1  ... 
doi:10.1016/j.humov.2017.09.007 pmid:28923581 fatcat:h7str6gokveblapyehducilxoa

Analysis of Relations between Spatiotemporal Movement Regulation and Performance of Discrete Actions Reveals Functionality in Skilled Climbing

Dominic Orth, Graham Kerr, Keith Davids, Ludovic Seifert
2017 Frontiers in Psychology  
transfer.  ...  Spatial and temporal movement measures taken at the hip are a traditional means of assessing efficiency of climbing behaviors.  ...  Making adjustments in how a hold is grasped prior to using it is also a form of exploration in terms of its "grasp-ability" affordance.  ... 
doi:10.3389/fpsyg.2017.01744 pmid:29056919 pmcid:PMC5635808 fatcat:44xabckcjjg5xdezfzdp6mzr7u

Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations [article]

Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu
2021 arXiv   pre-print
We thus propose to utilize the synergies between grasp affordance and 3D reconstruction through multi-task learning of a shared representation.  ...  The experimental results in simulation and on the real robot have demonstrated that the use of implicit neural representations and joint learning of grasp affordance and 3D reconstruction have led to state-of-the-art  ...  ACKNOWLEDGMENTS We would like to thank Zhiyao Bao for efforts on affordance visualization.  ... 
arXiv:2104.01542v2 fatcat:xwlz3bxlv5fevjjflgapnmxnku

Environmental Design Shapes Perceptual-motor Exploration, Learning, and Transfer in Climbing

Ludovic Seifert, Jérémie Boulanger, Dominic Orth, Keith Davids
2015 Frontiers in Psychology  
to afford horizontal hold grasping, (ii) a vertical-edge route afforded vertical hold grasping, and (iii), a double-edge route was designed to afford both horizontal and vertical hold grasping.  ...  Climbing fluency was assessed by calculating geometric index of entropy.  ...  This project also received the funding of the French National Agency of Research (ID: ANR-13-JSH2-0004 DynaMov).  ... 
doi:10.3389/fpsyg.2015.01819 pmid:26635707 pmcid:PMC4658451 fatcat:rm5dtfndxvabhgti26khapwbdy

Affordances in Robotic Tasks – A Survey [article]

Paola Ardón, Èric Pairet, Katrin S. Lohan, Subramanian Ramamoorthy, Ronald P. A. Petrick
2020 arXiv   pre-print
Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects.  ...  Historically, the concept derives from the literature in psychology and cognitive science, where affordances are discussed in a way that makes it hard for the definition to be directly transferred to computational  ...  When the concept is transferred to use in a robot, the focus of attention shifts.  ... 
arXiv:2004.07400v1 fatcat:hiexg6suzvg6ld7cwjtzyz4qka

How the development of handedness could contribute to the development of language

George F. Michel, Iryna Babik, Eliza L. Nelson, Julie M. Campbell, Emily C. Marcinowski
2013 Developmental Psychobiology  
Using Arbib's proposed sequence of sensorimotor development of manual skills and gestures (that he considers to be the basis of speech gestures and proto-language), we show how the development of hand-use  ...  We propose a developmental process which may link the development of handedness with the development of hemispheric specialization for speech processing.  ...  Bimanual transfers likely direct attention to select attributes of the object and increase affordance recognition.  ... 
doi:10.1002/dev.21121 pmid:23754687 pmcid:PMC4040107 fatcat:bcv3l45a3zeh3medpfxyklyx3q

Ecological Dynamics: A Theoretical Framework for Understanding Sport Performance, Physical Education and Physical Activity [chapter]

Ludovic Seifert, Keith Davids
2016 First Complex Systems Digital Campus World E-Conference 2015  
to affordances.  ...  It combines key concepts from ecological psychology and nonlinear dynamical system theory, seeking to enhance understanding of performance and learning contexts in sport, to aid the acquisition and transfer  ...  Acknowledgments This project received the funding of the CPER/GRR Logistic Mobility Numeric XTerm. Bibliography  ... 
doi:10.1007/978-3-319-45901-1_3 fatcat:fgsdandayraqbor7ftiytpbdk4

Intention-Related Natural Language Grounding via Object Affordance Detection and Intention Semantic Extraction

Jinpeng Mi, Hongzhuo Liang, Nikolaos Katsakis, Song Tang, Qingdu Li, Changshui Zhang, Jianwei Zhang
2020 Frontiers in Neurorobotics  
We train and validate the attention-based object affordance recognition network on a self-built dataset in which a large number of images originate from MSCOCO and ImageNet.  ...  We conduct extensive experiments to validate the performance of the object affordance detection network and the intention-related natural language queries grounding architecture.  ...  AUTHOR CONTRIBUTIONS JM designed the study, wrote the initial draft of the manuscript, trained the object affordance detection network, completed the intention-related natural language grounding architecture  ... 
doi:10.3389/fnbot.2020.00026 pmid:32477091 pmcid:PMC7238763 fatcat:gjdtium6vzapnov7c7cn5x4gae
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