Interactive Perception: Leveraging Action in Perception and Perception in Action




Recent approaches in robotics follow the insight that perception is facilitated by interactivity with the environment. These approaches are subsumed under the term of Interactive Perception (IP). We argue that IP provides the following benefits: (i) any type of forceful interaction with the environment creates a new type of informative sensory signal that would otherwise not be present and (ii) any prior knowledge about the nature of the interaction supports the interpretation of the signal. This is facilitated by knowledge of the regularity in the combined space of sensory information and action parameters. The goal of this survey is to postulate this as a principle and collect evidence in support by analyzing and categorizing existing work in this area. We also provide an overview of the most important applications of Interactive Perception. We close this survey by discussing the remaining open questions. Thereby, we hope to define a field and inspire future work.

Author(s): Jeannette Bohg and Karol Hausman and Bharath Sankaran and Oliver Brock and Danica Kragic and Stefan Schaal and Gaurav Sukhatme
Journal: IEEE Transactions on Robotics
Year: 2017
Month: June

Department(s): Autonomous Motion
Research Project(s): Interactive Perception
Bibtex Type: Article (article)
Paper Type: Journal

State: Accepted

Links: Version on arXiv


  title = {Interactive Perception: Leveraging Action in Perception and Perception in Action},
  author = {Bohg, Jeannette and Hausman, Karol and Sankaran, Bharath and Brock, Oliver and Kragic, Danica and Schaal, Stefan and Sukhatme, Gaurav},
  journal = {IEEE Transactions on Robotics},
  month = jun,
  year = {2017},
  month_numeric = {6}