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Learning to grasp and extract affordances: the Integrated Learning of Grasps and Affordances (ILGA) model

Bonaiuto, J; Arbib, MA; (2015) Learning to grasp and extract affordances: the Integrated Learning of Grasps and Affordances (ILGA) model. Biological Cybernetics , 109 (6) pp. 639-669. 10.1007/s00422-015-0666-2. Green open access

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Abstract

The activity of certain parietal neurons has been interpreted as encoding affordances (directly perceivable opportunities) for grasping. Separate computational models have been developed for infant grasp learning and affordance learning, but no single model has yet combined these processes in a neurobiologically plausible way. We present the Integrated Learning of Grasps and Affordances (ILGA) model that simultaneously learns grasp affordances from visual object features and motor parameters for planning grasps using trial-and-error reinforcement learning. As in the Infant Learning to Grasp Model, we model a stage of infant development prior to the onset of sophisticated visual processing of hand–object relations, but we assume that certain premotor neurons activate neural populations in primary motor cortex that synergistically control different combinations of fingers. The ILGA model is able to extract affordance representations from visual object features, learn motor parameters for generating stable grasps, and generalize its learned representations to novel objects.

Type: Article
Title: Learning to grasp and extract affordances: the Integrated Learning of Grasps and Affordances (ILGA) model
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/s00422-015-0666-2
Publisher version: http://dx.doi.org/10.1007/s00422-015-0666-2
Additional information: © The Author(s) 2015. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://​creativecommons.​org/​licenses/​by/​4.​0/​), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences
URI: https://discovery.ucl.ac.uk/id/eprint/1475399
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