Affordances encode relationships between actions, objects, and effects. They play an important role on basic cognitive capabilities such as prediction and planning. We address the problem of learning affordances through the interaction of a robot with the environment, a key step to understand the world properties and develop social skills. We present a general model for learning object affordances using Bayesian networks integrated within a general developmental architecture for social robots. Since learning is based on a probabilistic model, the approach is able to deal with uncertainty, redundancy, and irrelevant information. We demonstrate successful learning in the real world by having an humanoid robot interacting with objects. We illustrate the benefits of the acquired knowledge in imitation games.

The concept of affordances appeared in psychology during the late 60s as an alternative perspective on the visual perception of the environment. It was revolutionary in the intuition that the way living beings perceive the world is deeply influenced by the actions they are able to perform. Then, across the last 40 years, it has influenced many applied fields, e.g., design, human-computer interaction, computer vision, and robotics. In this paper, we offer a multidisciplinary perspective on the notion of affordances. We first discuss the main definitions and formalizations of the affordance theory, then we report the most significant evidence in psychology and neuroscience that support it, and finally we review the most relevant applications of this concept in robotics.

In the last few years, image classification has become an incredibly active research topic, with widespread applications. Most methods for visual recognition are fully supervised, as they make use of bounding boxes or pixelwise segmentations to locate objects of interest. However, this type of manual labeling is time consuming, error prone and it has been shown that manual segmentations are not necessarily the optimal spatial enclosure for object classifiers. This paper proposes a weakly-supervised system for multi-label image classification. In this setting, training images are annotated with a set of keywords describing their contents, but the visual concepts are not explicitly segmented in the images. We formulate the weakly-supervised image classification as a low-rank matrix completion problem. Compared to previous work, our proposed framework has three advantages: (1) Unlike existing solutions based on multiple-instance learning methods, our model is convex. We propose two alternative algorithms for matrix completion specifically tailored to visual data, and prove their convergence. (2) Unlike existing discriminative methods, our algorithm is robust to labeling errors, background noise and partial occlusions. (3) Our method can potentially be used for semantic segmentation. Experimental validation on several data sets shows that our method outperforms state-of-the-art classification algorithms, while effectively capturing each class appearance.

Low rank models have been widely used for the representation of shape, appearance or motion in computer vision problems. Traditional approaches to fit low rank models make use of an explicit bilinear factorization. These approaches benefit from fast numerical methods for optimization and easy kernelization. However, they suffer from serious local minima problems depending on the loss function and the amount/type of missing data. Recently, these low-rank models have alternatively been formulated as convex problems using the nuclear norm regularizer, unlike factorization methods, their numerical solvers are slow and it is unclear how to kernelize them or to impose a rank a priori. This paper proposes a unified approach to bilinear factorization and nuclear norm regularization, that inherits the benefits of both. We analyze the conditions under which these approaches are equivalent. Moreover, based on this analysis, we propose a new optimization algorithm and a "rank continuation'' strategy that outperform state-of-the-art approaches for Robust PCA, Structure from Motion and Photometric Stereo with outliers and missing data.