Some of my publications
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, “Learning Affordances of Consummatory Behaviors: Motivation-Driven Adaptive Perception”, Adaptive Behavior, vol. 18, no. 3-4, pp. 285–314, 2010.
, “Learning Object Functionalities in the Context of Action Selection”, in Towards Intelligent Mobile Robots, TIMR'03: 4th British Conference on Mobile Robotics, University of the West of England, Bristol, 2003.