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In this letter, a paradigm for the classification and manipulation ofpreviously unseen objects is established and demonstrated through a realexample of chairs. We present a novel robot manipulation method, guided by theunderstanding of object stability, perceptibility, and affordance, which allowsthe robot to prepare previously unseen and randomly oriented chairs for a teddybear to sit on. Specifically, the robot encounters an unknown object and firstreconstructs a complete 3D model from perceptual data via active and autonomousmanipulation. By inserting this model into a physical simulator (i.e., therobot's "imagination"), the robot assesses whether the object is a chair anddetermines how to reorient it properly to be used, i.e., how to reorient it toan upright and accessible pose. If the object is classified as a chair, therobot reorients the object to this pose and seats the teddy bear onto thechair. The teddy bear is a proxy for an elderly person, hospital patient, orchild. Experiment results show that our method achieves a high success rate onthe real robot task of chair preparation. Also, it outperforms several baselinemethods on the task of upright pose prediction for chairs.

Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs