時空間アフォーダンスマップのフレームワークSTAM
STAM: A Framework for Spatio-Temporal Affordance Maps
環境の動的な状態を扱うため、時空間アフォーダンス（STA）とそのマップ（STAM）を提案し、ロボットのタスク実行能力を向上させる手法を実験的に検証した。
著者: Francesco Riccio, Roberto Capobianco, Marc Hanheide, Daniele Nardi
分類: cs.RO
原文アブストラクト
Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection. However, when considering an environment instead of an object, the problem becomes more complex due to the dynamism of its state. To tackle this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and Spatio-Temporal Affordance Map (STAM). Using this formalism, we encode action semantics related to the environment to improve task execution capabilities of an autonomous robot. We experimentally validate our approach to support the execution of robot tasks by showing that affordances encode accurate semantics of the environment.
