Affordances capture the relationships between a robot and the environment in terms of the actions that the robot is able to perform. The notable characteristic of affordancebased perception is that an object is perceived by what it affords (e.g., graspable and rollable), instead of identities (e.g., name, color, and shape). Affordances play an important role in basic robot capabilities such as recognition, planning, and prediction. The key challenges in affordance research are: 1) how to

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... ically discover the distinctive features that specify an affordance in an online and incremental manner and 2) how to generalize these features to novel environments. This survey provides an entry point for interested researchers, including: 1) a general overview; 2) classification and critical analysis of existing work; 3) discussion of how affordances are useful in developmental robotics; 4) some open questions about how to use the affordance concept; and 5) a few promising research directions.