<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-03992611</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-13T03:32:05+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Building an Affordances Map With Interactive Perception</title>
            <author role="aut">
              <persName>
                <forename type="first">Léni</forename>
                <surname>Le Goff</surname>
              </persName>
              <idno type="halauthorid">2728718-0</idno>
              <affiliation ref="#struct-541937"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Oussama</forename>
                <surname>Yaakoubi</surname>
              </persName>
              <idno type="halauthorid">2728719-0</idno>
              <affiliation ref="#struct-541937"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Alexandre</forename>
                <surname>Coninx</surname>
              </persName>
              <email type="md5">7f23bda51ae83f6193f2ee40e5e4a994</email>
              <email type="domain">sorbonne-universite.fr</email>
              <idno type="idhal" notation="string">alex-coninx</idno>
              <idno type="idhal" notation="numeric">184690</idno>
              <idno type="halauthorid" notation="string">359759-184690</idno>
              <idno type="ARXIV">https://arxiv.org/a/coninx_a_1</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-7992-8183</idno>
              <idno type="IDREF">https://www.idref.fr/166602183</idno>
              <idno type="VIAF">https://viaf.org/viaf/295930989</idno>
              <affiliation ref="#struct-541937"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Stéphane</forename>
                <surname>Doncieux</surname>
              </persName>
              <email type="md5">b937d1286db3da7e0877aa203468bd7d</email>
              <email type="domain">sorbonne-universite.fr</email>
              <idno type="idhal" notation="string">stephane-doncieux</idno>
              <idno type="idhal" notation="numeric">3909</idno>
              <idno type="halauthorid" notation="string">413189-3909</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-1541-054X</idno>
              <idno type="IDREF">https://www.idref.fr/089428617</idno>
              <idno type="ISNI">http://isni.org/isni/000000010267981X</idno>
              <idno type="VIAF">https://viaf.org/viaf/153201463</idno>
              <affiliation ref="#struct-541937"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Stephane</forename>
                <surname>Doncieux</surname>
              </persName>
              <email type="md5">b937d1286db3da7e0877aa203468bd7d</email>
              <email type="domain">sorbonne-universite.fr</email>
            </editor>
            <funder ref="#projanr-55712"/>
            <funder ref="#projeurop-182289"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2024-10-07 09:06:27</date>
              <date type="whenModified">2025-02-07 18:38:10</date>
              <date type="whenReleased">2024-10-07 09:17:47</date>
              <date type="whenProduced">2022</date>
              <date type="whenEndEmbargoed">2024-10-07</date>
              <ref type="file" target="https://hal.science/hal-03992611v1/document">
                <date notBefore="2024-10-07"/>
              </ref>
              <ref type="file" subtype="greenPublisher" n="1" target="https://hal.science/hal-03992611v1/file/fnbot-16-504459.pdf" id="file-4723206-4109861">
                <date notBefore="2024-10-07"/>
              </ref>
              <ref type="externalLink" target="http://arxiv.org/pdf/1903.04413"/>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="138268">
                <persName>
                  <forename>Stephane</forename>
                  <surname>Doncieux</surname>
                </persName>
                <email type="md5">b937d1286db3da7e0877aa203468bd7d</email>
                <email type="domain">sorbonne-universite.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-03992611</idno>
            <idno type="halUri">https://hal.science/hal-03992611</idno>
            <idno type="halBibtex">legoff:hal-03992611</idno>
            <idno type="halRefHtml">&lt;i&gt;Frontiers in Neurorobotics&lt;/i&gt;, 2022, 16, pp.504459. &lt;a target="_blank" href="https://dx.doi.org/10.3389/fnbot.2022.504459"&gt;&amp;#x27E8;10.3389/fnbot.2022.504459&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Frontiers in Neurorobotics, 2022, 16, pp.504459. &amp;#x27E8;10.3389/fnbot.2022.504459&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-4723206-4109861"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="OPENAIRE">OpenAIRE</idno>
            <idno type="stamp" n="ISIR" corresp="SORBONNE-UNIVERSITE">Institut des Systèmes Intelligents et de Robotique</idno>
            <idno type="stamp" n="SORBONNE-UNIVERSITE">Sorbonne Université</idno>
            <idno type="stamp" n="SORBONNE-UNIV" corresp="SORBONNE-UNIVERSITE">Sorbonne Université 01/01/2018</idno>
            <idno type="stamp" n="SU-SCIENCES" corresp="SORBONNE-UNIVERSITE">Faculté des Sciences de Sorbonne Université</idno>
            <idno type="stamp" n="SU-TI">Sorbonne Université - Texte Intégral</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="ISIR_AMAC" corresp="ISIR">Architectures et Modèles de l'Adaptation et de la Cognition</idno>
            <idno type="stamp" n="ALLIANCE-SU"> Alliance Sorbonne Université</idno>
            <idno type="stamp" n="SUPRA_INGENIERIE">Ingénierie</idno>
            <idno type="stamp" n="ANR-IA-21" corresp="ANR-IA">ANR-IA-21</idno>
            <idno type="stamp" n="ANR-IA">ANR-IA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Building an Affordances Map With Interactive Perception</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Léni</forename>
                    <surname>Le Goff</surname>
                  </persName>
                  <idno type="halauthorid">2728718-0</idno>
                  <affiliation ref="#struct-541937"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Oussama</forename>
                    <surname>Yaakoubi</surname>
                  </persName>
                  <idno type="halauthorid">2728719-0</idno>
                  <affiliation ref="#struct-541937"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Alexandre</forename>
                    <surname>Coninx</surname>
                  </persName>
                  <email type="md5">7f23bda51ae83f6193f2ee40e5e4a994</email>
                  <email type="domain">sorbonne-universite.fr</email>
                  <idno type="idhal" notation="string">alex-coninx</idno>
                  <idno type="idhal" notation="numeric">184690</idno>
                  <idno type="halauthorid" notation="string">359759-184690</idno>
                  <idno type="ARXIV">https://arxiv.org/a/coninx_a_1</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-7992-8183</idno>
                  <idno type="IDREF">https://www.idref.fr/166602183</idno>
                  <idno type="VIAF">https://viaf.org/viaf/295930989</idno>
                  <affiliation ref="#struct-541937"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Stéphane</forename>
                    <surname>Doncieux</surname>
                  </persName>
                  <email type="md5">b937d1286db3da7e0877aa203468bd7d</email>
                  <email type="domain">sorbonne-universite.fr</email>
                  <idno type="idhal" notation="string">stephane-doncieux</idno>
                  <idno type="idhal" notation="numeric">3909</idno>
                  <idno type="halauthorid" notation="string">413189-3909</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-1541-054X</idno>
                  <idno type="IDREF">https://www.idref.fr/089428617</idno>
                  <idno type="ISNI">http://isni.org/isni/000000010267981X</idno>
                  <idno type="VIAF">https://viaf.org/viaf/153201463</idno>
                  <affiliation ref="#struct-541937"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">60273</idno>
                <idno type="issn">1662-5218</idno>
                <idno type="eissn">1662-5218</idno>
                <title level="j">Frontiers in Neurorobotics</title>
                <imprint>
                  <publisher>Frontiers</publisher>
                  <biblScope unit="volume">16</biblScope>
                  <biblScope unit="pp">504459</biblScope>
                  <date type="datePub">2022</date>
                </imprint>
              </monogr>
              <idno type="arxiv">1903.04413</idno>
              <idno type="doi">10.3389/fnbot.2022.504459</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="info.info-ai">Computer Science [cs]/Artificial Intelligence [cs.AI]</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it through their interaction with their environment. This ability furthermore opens the way to the acquisition of affordances maps in which the action capabilities of the robot structure its visual scene understanding. We propose an approach to build such affordances maps by relying on an interactive perception approach and an online classification for a real robot equipped with two arms with 7 degrees of freedom. Our system is modular and permits to learn maps from different skills. In the proposed formalization of affordances, actions and effects are related to visual features, not objects, thus our approach does not need a prior definition of the concept of object. We have tested the approach on three action primitives and on a real PR2 robot.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-541937" status="VALID">
          <idno type="IdRef">241179122</idno>
          <idno type="RNSR">200918463J</idno>
          <idno type="ROR">05neq8668</idno>
          <orgName>Institut des Systèmes Intelligents et de Robotique</orgName>
          <orgName type="acronym">ISIR</orgName>
          <date type="start">2018-01-01</date>
          <desc>
            <address>
              <addrLine>Sorbonne-Université, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.isir.upmc.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-413221" type="direct"/>
            <relation name="UMR7222" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-413221" status="VALID">
          <idno type="IdRef">221333754</idno>
          <idno type="ROR">https://ror.org/02en5vm52</idno>
          <orgName>Sorbonne Université</orgName>
          <orgName type="acronym">SU</orgName>
          <date type="start">2018-01-01</date>
          <desc>
            <address>
              <addrLine>21 rue de l’École de médecine - 75006 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.sorbonne-universite.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-55712" status="VALID">
          <idno type="anr">ANR-21-FAI1-0004</idno>
          <orgName>Learn2grasp</orgName>
          <desc>Apprentissage de saisie d'objets par un retour visuel et haptique</desc>
          <date type="start">2021</date>
        </org>
        <org type="europeanProject" xml:id="projeurop-182289" status="VALID">
          <idno type="number">640891</idno>
          <idno type="program">H2020-FETPROACT-2014</idno>
          <idno type="call">H2020-FETPROACT-2014</idno>
          <orgName>DREAM</orgName>
          <desc>Deferred Restructuring of Experience in Autonomous Machines</desc>
          <date type="start">2015-01-01</date>
          <date type="end">2018-12-31</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>