Todd Wegter

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This paper explores whether auditory and proprioceptive information can be used to bootstrap learning about how objects interact with water. Our results demonstrate that a robot can categorize objects into “containers” and “noncontainers” based on how the objects sound like and feel like when water is flowing onto them. Using a behavior–grounded approach,(More)
This paper describes a set of experiments in which an upper-torso humanoid robot learned to slide a card through a card reader. The small size and the flexibility of the card presented a number of manipulation challenges for the robot. First, because most of the card is occluded by the card reader and the robot's hand during the sliding process, visual(More)
This paper proposes a method for constraint detection using only proprioceptive data. This method for constraint detection was tested on a pre-existing data set and was found to be able to detect insertions. Two additional experiments were performed. The first showed that the constraint detection algorithm can be used to associate an action with an event.(More)
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