Self-supervised learning of grasp dependent tool affordances on the iCub Humanoid robot

The ability to learn about and efficiently use tools constitutes a desirable property for general purpose humanoid robots, as it allows them to extend their capabilities beyond the limitations of their own body. Yet, it is a topic that has only recently been tackled from the robotics community. Most of the studies published so far make use of tool representations that allow their models to generalize the knowledge among similar tools in a very limited way. Moreover, most studies assume that the tool is always grasped in its common or canonical grasp position, thus not considering the influence of the grasp configuration in the outcome of the actions performed with them. In the current paper we present a method that tackles both issues simultaneously by using an extended set of functional features and a novel representation of the effect of the tool use. Together, they implicitly account for the grasping configuration and allow the iCub to generalize among tools based on their geometry. Moreover, learning happens in a self-supervised manner: First, the robot autonomously discovers the affordance categories of the tools by clustering the effect of their usage. These categories are subsequently used as a teaching signal to associate visually obtained functional features to the expected tool´s affordance. In the experiments, we show how this technique can be effectively used to select, given a tool, the best action to achieve a desired effect.