Adapting object handover from robot to human using perceptual affordances

A computer-implemented method for executing a handover action, the method comprising:

• receiving, using one or more computer processors, sensor data from one or more sensors;
• calculating, using the one or more computer processors, a probability of a perceptual classification based on the sensor data;
• calculating, using the one or more computer processors, an affordance based on the probability of the perceptual classification using a preference model;
• determining, using the one or more computer processors, a handover action based on the affordance;
• executing, using the one or more computer processors, the handover action;
• and
• updating, using the one or more computer processors, the preference model based on feedback.

A system comprising:

• one or more computer processors;
• and
• one or more memories storing instructions that, when executed by the one or more processors, cause the system to perform operations including:
• receive sensor data from a sensor, the sensor data describing surroundings;
• calculate a probability of a perceptual classification based on the sensor data;
• calculate an affordance of the probability of the perceptual classification based on a preference model;
• determine a handover action based on the affordance;
• execute the handover action;
• and
• updating the preference model based on feedback.