@article{horton_amant_2017, title={A Partial Contour Similarity-Based Approach to Visual Affordances in Habile Agents}, volume={9}, ISSN={["2379-8939"]}, DOI={10.1109/tcds.2017.2702599}, abstractNote={In a typical tool use task, we can view both the relationship between the agent and the tool and the relationship between the tool and the target in terms of affordances. One set of affordances relates to the ability of the agent to manipulate the tool, while a second set of affordances relates to the ability of the agent to manipulate the target by means of the tool. In both cases, effective tool use is facilitated by the coupling of one object to another: agent-to-tool-to-target. In this paper, we focus on the visual identification of such affordances via contour similarity. Objects with complementary contour segments can fit together, which suggests possible opportunities for effective interactions. We present a system for the identification and evaluation of partial contour-based matches and analyze the system’s behavior. We propose a set of sample tool-use scenarios as part of our analysis. We demonstrate the use of the system in providing guidance to an autonomous robotic agent performing tool selection tasks.}, number={3}, journal={IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS}, author={Horton, Thomas E. and Amant, Robert St.}, year={2017}, month={Sep}, pages={269–280} }
 @article{st amant_horton_2008, title={Revisiting the definition of animal tool use}, volume={75}, ISSN={0003-3472}, url={http://dx.doi.org/10.1016/j.anbehav.2007.09.028}, DOI={10.1016/j.anbehav.2007.09.028}, abstractNote={Benjamin Beck's definition of tool use has served the field of animal cognition well for over 25 years (Beck 1980, Animal Tool Behavior: the Use and Manufacture of Tools, New York, Garland STPM). This article proposes a new, more explanatory definition that accounts for tool use in terms of two complementary subcategories of behaviours: behaviours aimed at altering a target object by mechanical means and behaviours that mediate the flow of information between the tool user and the environment or other organisms in the environment. The conceptual foundation and implications of the new definition are contrasted with those of existing definitions, particularly Beck's. The new definition is informally evaluated with respect to a set of scenarios that highlights differences from Beck's definition as well as those of others in the literature.}, number={4}, journal={Animal Behaviour}, publisher={Elsevier BV}, author={St Amant, Robert and Horton, Thomas E.}, year={2008}, month={Apr}, pages={1199–1208} }