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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
We propose a framework for the sensor-based estimation of manipulation-relevant object properties and the abstraction of known actions in a learning setup from the observation of humans. The descriptors consists of an objectcentric representation of manipulation constraints and a scenespecific action graph. The graph spans between the typical places, where objects are placed. This framework allows to abstract the strongly varying actions of a human operator and to monitor unexpected newdoi:10.1109/iros.2011.6048458 fatcat:moubr3kl4vb4rcphnqdfr3jvlq