@InProceedings{Sjoo11LearningSpatialRelations,
  author = 	 {Sj\"{o}\"{o}, Kristoffer and Jensfelt, Patric},
  title = 	 {Learning spatial relations from functional simulation},
  booktitle = {IROS 2011},
  year = 	 {2011},
  month = 	 {September},
  abstract =	 {Robots acting in complex environments need not only
                  be aware of objects, but also of the relationships
                  objects have with each other. This paper suggests a
                  conceptualization of these relationships in terms of
                  task-relevant functional distinctions, such as
                  support, location control, protection and
                  confinement. Being able to discern such relations in
                  a scene will be important for robots in practical
                  tasks; accordingly, it is demonstrated how
                  predictive models can be trained using data from
                  physics simulations. The resulting models are shown
                  to be both highly predictive and intuitively
                  reasonable.},
}