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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 todoi:10.1109/tcds.2016.2614992 fatcat:y3t4rgzbqzh55b37ovafu462jy