The MACS Project: An Approach to Affordance-Inspired Robot Control. - Erich Rome; Lucas Paletta; Erol Sahin; Georg Dorffner; Joachim Hertzberg; Ralph Breithaupt; Gerald Fritz; Jörg Irran; Florian Kintzler; Christopher Lörken; Stefan May; Emre Ugur (Towards Affordance-Based Robot Control, 2006)

Area measurement of large closed regions with a mobile robot. - Erol Sahin; Sertan Girgin; Emre Ugur (Auton. Robots, 2006)

The learning and use of traversability affordance using range images on a mobile robot. - Emre Ugur; Mehmet Remzi Dogar; Maya Cakmak; Erol Sahin (ICRA, 2007)

From primitive behaviors to goal-directed behavior using affordances. - Mehmet Remzi Dogar; Maya Cakmak; Emre Ugur; Erol Sahin (IROS, 2007)

To Afford or Not to Afford: A New Formalization of Affordances Toward Affordance-Based Robot Control. - Erol Sahin; Maya Çakmak; Mehmet Remzi Dogar; Emre Ugur; Göktürk Üçoluk (Adapt. Behav., 2007)

Using learned affordances for robotic behavior development. - Mehmet Remzi Dogar; Emre Ugur; Erol Sahin; Maya Cakmak (ICRA, 2008)

Affordance learning from range data for multi-step planning. - Emre Ugur; Erol Sahin; Erhan Öztop (EpiRob, 2009)

Predicting future object states using learned affordances. - Emre Ugur; Erol Sahin; Erhan Öztop (ISCIS, 2009)

Traversability: A Case Study for Learning and Perceiving Affordances in Robots. - Emre Ugur; Erol Sahin (Adapt. Behav., 2010)

A developmental framework for learning affordances (Sağlarlık öğrenimi için gelişimsel bir çerçeve) - Emre Ugur (2010)

Learning to grasp with parental scaffolding. - Emre Ugur; Hande Çelikkanat; Erol Sahin; Yukie Nagai; Erhan Öztop (Humanoids, 2011)

Going beyond the perception of affordances: Learning how to actualize them through behavioral parameters. - Emre Ugur; Erhan Öztop; Erol Sahin (ICRA, 2011)

Unsupervised learning of object affordances for planning in a mobile manipulation platform. - Emre Ugur; Erol Sahin; Erhan Öztop (ICRA, 2011)

Goal emulation and planning in perceptual space using learned affordances. - Emre Ugur; Erhan Öztop; Erol Sahin (Robotics Auton. Syst., 2011)

A kernel-based approach to direct action perception. - Oliver Kroemer; Emre Ugur; Erhan Öztop; Jan Peters 001 (ICRA, 2012)

Closed-loop primitives: A method to generate and recognize reaching actions from demonstration. - Mustafa Parlaktuna; Doruk Tunaoglu; Erol Sahin; Emre Ugur (ICRA, 2012)

Self-discovery of motor primitives and learning grasp affordances. - Emre Ugur; Erol Sahin; Erhan Öztop (IROS, 2012)

Emergent structuring of interdependent affordance learning tasks. - Emre Ugur; Justus H. Piater (ICDL-EPIROB, 2014)

Bootstrapping paired-object affordance learning with learned single-affordance features. - Emre Ugur; Sándor Szedmák; Justus H. Piater (ICDL-EPIROB, 2014)

Knowledge propagation and relation learning for predicting action effects. - Sándor Szedmák; Emre Ugur; Justus H. Piater (IROS, 2014)

Complex affordance learning based on basic affordances. - Emre Ugur; Sándor Szedmák; Justus H. Piater (SIU, 2014)

Refining discovered symbols with multi-step interaction experience. - Emre Ugur; Justus H. Piater (Humanoids, 2015)

Reactive, task-specific object manipulation by metric reinforcement learning. - Simon Hangl; Emre Ugur; Sándor Szedmák; Justus H. Piater; Ales Ude (ICAR, 2015)

Comparison of action-grounded and non-action-grounded 3-D shape features for object affordance classification. - Barry Ridge; Emre Ugur; Ales Ude (ICAR, 2015)

Use of speech and motion cues for bootstrapping complex action learning in iCub. - Emre Ugur; Jimmy Baraglia; Lars Schillingmann; Yukie Nagai (ICDL-EPIROB, 2015)

Bottom-up learning of object categories, action effects and logical rules: From continuous manipulative exploration to symbolic planning. - Emre Ugur; Justus H. Piater (ICRA, 2015)

Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills. - Emre Ugur; Yukie Nagai; Hande Çelikkanat; Erhan Öztop (Robotica, 2015)

Staged Development of Robot Skills: Behavior Formation, Affordance Learning and Imitation with Motionese. - Emre Ugur; Yukie Nagai; Erol Sahin; Erhan Öztop (IEEE Trans. Auton. Ment. Dev., 2015)

A robust pushing skill for object delivery between obstacles. - Senka Krivic; Emre Ugur; Justus H. Piater (CASE, 2016)

Robotic playing for hierarchical complex skill learning. - Simon Hangl; Emre Ugur; Sándor Szedmák; Justus H. Piater (IROS, 2016)

Hierarchical Haptic Manipulation for Complex Skill Learning. - Simon Hangl; Emre Ugur; Sándor Szedmák; Justus H. Piater (CoRR, 2016)

Cognitive Development and Symbol Emergence in Humans and Robots (NII Shonan Meeting 2016-14). - Tadahiro Taniguchi; Emre Ugur; George Dimitri Konidaris (NII Shonan Meet. Rep., 2016)

Computational models of affordance in robotics: a taxonomy and systematic classification. - Philipp Zech; Simon Haller; Safoura Rezapour Lakani; Barry Ridge; Emre Ugur; Justus H. Piater (Adapt. Behav., 2017)

Autonomous robots: potential, advances and future direction. - Simon Hangl; Emre Ugur; Justus H. Piater (Elektrotech. Informationstechnik, 2017)

Emergent Structuring of Interdependent Affordance Learning Tasks Using Intrinsic Motivation and Empirical Feature Selection. - Emre Ugur; Justus H. Piater (IEEE Trans. Cogn. Dev. Syst., 2017)

Partitioning Sensorimotor Space by Predictability Principle in Intrinsic Motivation Systems. - Melisa Idil Sener; Emre Ugur (ICDL-EPIROB, 2018)

Modeling the Development of Infant Imitation using Inverse Reinforcement Learning. - Ahmet Ercan Tekden; Emre Ugur; Yukie Nagai; Erhan Öztop (ICDL-EPIROB, 2018)

Associative Skill Memory Models. - Hakan Girgin; Emre Ugur (IROS, 2018)

Affordances in Psychology, Neuroscience, and Robotics: A Survey. - Lorenzo Jamone; Emre Ugur; Angelo Cangelosi; Luciano Fadiga; Alexandre Bernardino; Justus H. Piater; José Santos-Victor (IEEE Trans. Cogn. Dev. Syst., 2018)

Guest Editorial Special Issue on Affordances. - Lorenzo Jamone; Emre Ugur; José Santos-Victor (IEEE Trans. Cogn. Dev. Syst., 2018)

A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: A Suit for Human State Sensing and an Exoskeleton for Assistance. - Barkan Ugurlu; Merve Acer; Duygun Erol Barkana; Ikilem Gocek; Ayse Küçükyilmaz; Yunus Ziya Arslan; Halil I. Basturk; Evren Samur; Emre Ugur; Ramazan Unal; Ozkan Bebek (ICORR, 2019)

Conditional Neural Movement Primitives. - Muhammet Yunus Seker; Mert Imre; Justus H. Piater; Emre Ugur (Robotics: Science and Systems, 2019)

Affordance-based altruistic robotic architecture for human-robot collaboration. - Mert Imre; Erhan Öztop; Yukie Nagai; Emre Ugur (Adapt. Behav., 2019)

Section focused on machine learning methods for high-level cognitive capabilities in robotics. - Tetsunari Inamura; Hiroki Yokoyama; Emre Ugur; Xavier Hinaut; Michael Beetz; Tadahiro Taniguchi (Adv. Robotics, 2019)

Generalization in Transfer Learning. - Suzan Ece Ada; Emre Ugur; H. Levent Akin (CoRR, 2019)

Belief Regulated Dual Propagation Nets for Learning Action Effects on Articulated Multi-Part Objects. - Ahmet Ercan Tekden; Aykut Erdem; Erkut Erdem; Mert Imre; M. Yunus Seker; Emre Ugur (CoRR, 2019)

Editorial: Machine Learning Methods for High-Level Cognitive Capabilities in Robotics. - Tadahiro Taniguchi; Emre Ugur; Tetsuya Ogata; Takayuki Nagai; Yiannis Demiris (Frontiers Neurorobotics, 2019)

Deep effect trajectory prediction in robot manipulation. - M. Yunus Seker; Ahmet Ercan Tekden; Emre Ugur (Robotics Auton. Syst., 2019)

Symbol Emergence in Cognitive Developmental Systems: A Survey. - Tadahiro Taniguchi; Justus H. Piater; Florentin Wörgötter; Emre Ugur; Matej Hoffmann; Lorenzo Jamone; Takayuki Nagai; Benjamin Rosman; Toshihiko Matsuka; Naoto Iwahashi; Erhan Öztop (IEEE Trans. Cogn. Dev. Syst., 2019)

ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing. - M. Tuluhan Akbulut; Erhan Öztop; Muhammet Yunus Seker; Honghu Xue; Ahmet Ercan Tekden; Emre Ugur (CoRL, 2020)

High-level representations through unconstrained sensorimotor learning. - Ozgur Baran Ozturkcu; Emre Ugur; Erhan Öztop (ICDL-EPIROB, 2020)

Belief Regulated Dual Propagation Nets for Learning Action Effects on Groups of Articulated Objects. - Ahmet Ercan Tekden; Aykut Erdem; Erkut Erdem; Mert Imre; M. Yunus Seker; Emre Ugur (ICRA, 2020)

Predicting Human Visual Complexity Judgments via Deep Learning. - Hamit Basgöl; Emre Ugur (SIU, 2020)

Adaptive Conditional Neural Movement Primitives via Representation Sharing Between Supervised and Reinforcement Learning. - M. Tuluhan Akbulut; M. Yunus Seker; Ahmet Ercan Tekden; Yukie Nagai; Erhan Öztop; Emre Ugur (CoRR, 2020)

Psychological, Computational and Robotic Models of Time Perception. - Hamit Basgol; Inci Ayhan; Emre Ugur (CoRR, 2020)

Trick the Body Trick the Mind: Avatar representation affects the perception of available action possibilities in Virtual Reality. - Tugce Akkoc; Emre Ugur; Inci Ayhan (CoRR, 2020)

Intrinsic Motivation in Object-Action-Outcome Blending Latent Space. - Melisa Idil Sener; Yukie Nagai; Erhan Öztop; Emre Ugur (CoRR, 2020)

DeepSym: Deep Symbol Generation and Rule Learning from Unsupervised Continuous Robot Interaction for Planning. - Alper Ahmetoglu; M. Yunus Seker; Aysu Sayin; Serkan Bugur; Justus H. Piater; Erhan Öztop; Emre Ugur (CoRR, 2020)

Compliant Parametric Dynamic Movement Primitives. - Emre Ugur; Hakan Girgin (Robotica, 2020)

Effects of Scaling Shoulder Width on Passability Affordance in Virtual Reality. - Safa Andaç; Can Bora Sezer; Inci Ayhan; Emre Ugur; Erhan Öztop (CogSci, 2021)

A Self-Supervised and Predictive Processing-Based Model of Event Segmentation and Learning. - Hamit Basgol; Inci Ayhan; Emre Ugur (CogSci, 2021)

An Ecologically Valid Reference Frame for Perspective Invariant Action Recognition. - Berkay Bayram; Emre Ugur; Minoru Asada; Erhan Öztop (ICDL, 2021)

Reward Conditioned Neural Movement Primitives for Population-Based Variational Policy Optimization. - M. Tuluhan Akbulut; Utku Bozdogan; Ahmet Ercan Tekden; Emre Ugur (ICRA, 2021)

Inferring Cost Functions Using Reward Parameter Search and Policy Gradient Reinforcement Learning. - Emir Arditi; Tjasa Kunavar; Emre Ugur; Jan Babic; Erhan Öztop (IECON, 2021)

Learning System Dynamics via Deep Recurrent and Conditional Neural Systems. - Mehmet Pekmezci; Emre Ugur; Erhan Öztop (SIU, 2021)

Effect Regulated Projection of Robot's Action Space for Production and Prediction of Manipulation Primitives Through Learning Progress and Predictability-Based Exploration. - Serkan Bugur; Erhan Öztop; Yukie Nagai; Emre Ugur (IEEE Trans. Cogn. Dev. Syst., 2021)

Adaptive Shared Control with Human Intention Estimation for Human Agent Collaboration. - Negin Amirshirzad; Emre Ugur; Ozkan Bebek; Erhan Öztop (CASE, 2022)

High-level features for resource economy and fast learning in skill transfer. - Alper Ahmetoglu; Emre Ugur; Minoru Asada; Erhan Öztop (Adv. Robotics, 2022)

Special issue on Symbol Emergence in Robotics and Cognitive Systems (I). - Tadahiro Taniguchi; Takayuki Nagai; Shingo Shimoda; Angelo Cangelosi; Yiannis Demiris; Yutaka Matsuo; Kenji Doya; Tetsuya Ogata; Lorenzo Jamone; Yukie Nagai; Emre Ugur; Daichi Mochihashi; et al. (Adv. Robotics, 2022)

Special issue on symbol emergence in robotics and cognitive systems (II). - Tadahiro Taniguchi; Takayuki Nagai; Shingo Shimoda; Angelo Cangelosi; Yiannis Demiris; Yutaka Matsuo; Kenji Doya; Tetsuya Ogata; Lorenzo Jamone; Yukie Nagai; Emre Ugur; Daichi Mochihashi; et al. (Adv. Robotics, 2022)

Learning Multi-Object Symbols for Manipulation with Attentive Deep Effect Predictors. - Alper Ahmetoglu; Erhan Öztop; Emre Ugur (CoRR, 2022)

Learning Social Navigation from Demonstrations with Conditional Neural Processes. - Yigit Yildirim; Emre Ugur (CoRR, 2022)

DeepSym: Deep Symbol Generation and Rule Learning for Planning from Unsupervised Robot Interaction. - Alper Ahmetoglu; M. Yunus Seker; Justus H. Piater; Erhan Öztop; Emre Ugur (J. Artif. Intell. Res., 2022)

Imitation and mirror systems in robots through Deep Modality Blending Networks. - M. Yunus Seker; Alper Ahmetoglu; Yukie Nagai; Minoru Asada; Erhan Öztop; Emre Ugur (Neural Networks, 2022)

Generalization in transfer learning: robust control of robot locomotion. - Suzan Ece Ada; Emre Ugur; H. Levent Akin (Robotica, 2022)

Time Perception: A Review on Psychological, Computational, and Robotic Models. - Hamit Basgol; Inci Ayhan; Emre Ugur (IEEE Trans. Cogn. Dev. Syst., 2022)

Trick the body trick the mind: avatar representation affects the perception of available action possibilities in virtual reality. - Tugce Joy; Emre Ugur; Inci Ayhan (Virtual Real., 2022)

Developmental Scaffolding with Large Language Models. - Batuhan Celik; Alper Ahmetoglu; Emre Ugur; Erhan Öztop (ICDL, 2023)

Bimanual Rope Manipulation Skill Synthesis through Context Dependent Correction Policy Learning from Human Demonstration. - T. Baturhan Akbulut; Gülsüm Tuba Çibuk Girgin; Arash Mehrabi; Minoru Asada; Emre Ugur; Erhan Öztop (ICRA, 2023)

Deep Multi-Object Symbol Learning with Self-Attention Based Predictors. - Alper Ahmetoglu; Erhan Öztop; Emre Ugur (SIU, 2023)

Meta-World Conditional Neural Processes. - Suzan Ece Ada; Emre Ugur (CoRR, 2023)

Multi-step planning with learned effects of (possibly partial) action executions. - Utku Bozdogan; Emre Ugur (CoRR, 2023)

Multi-Object Graph Affordance Network: Enabling Goal-Oriented Planning through Compound Object Affordances. - Gülsüm Tuba Çibuk Girgin; Emre Ugur (CoRR, 2023)

Correspondence learning between morphologically different robots through task demonstrations. - Hakan Aktas; Yukie Nagai; Minoru Asada; Erhan Öztop; Emre Ugur (CoRR, 2023)

Exploration With Intrinsic Motivation Using Object-Action-Outcome Latent Space. - Melisa Idil Sener; Yukie Nagai; Erhan Öztop; Emre Ugur (IEEE Trans. Cogn. Dev. Syst., 2023)

World models and predictive coding for cognitive and developmental robotics: frontiers and challenges. - Tadahiro Taniguchi; Shingo Murata; Masahiro Suzuki; Dimitri Ognibene; Pablo Lanillos; Emre Ugur; Lorenzo Jamone; Tomoaki Nakamura; Alejandra Ciria; Bruno Lara 001; Giovanni Pezzulo (Adv. Robotics, 2023)

Special issue on world models and predictive coding in robotics (Part I). - Tadahiro Taniguchi; Dimitri Ognibene; Lorenzo Jamone; Emre Ugur; Pablo Lanillos; Alejandra Ciria; Masahiro Suzuki; Shingo Murata; Yoshihiro Nakata; Tomoaki Nakamura (Adv. Robotics, 2023)

Special issue on world models and predictive coding in robotics (part II). - Tadahiro Taniguchi; Dimitri Ognibene; Lorenzo Jamone; Emre Ugur; Pablo Lanillos; Alejandra Ciria; Masahiro Suzuki; Shingo Murata; Yoshihiro Nakata; Tomoaki Nakamura (Adv. Robotics, 2023)

Bidirectional Progressive Neural Networks With Episodic Return Progress for Emergent Task Sequencing and Robotic Skill Transfer. - Suzan Ece Ada; Hanne Say; Emre Ugur; Erhan Öztop (IEEE Access, 2024)

A Reinforcement Learning Based Controller to Minimize Forces on the Crutches of a Lower-Limb Exoskeleton. - Aydin Emre Utku; Suzan Ece Ada; Muhammet Hatipoglu; Mustafa Derman; Emre Ugur; Evren Samur (CoRR, 2024)

Conditional Neural Expert Processes for Learning from Demonstration. - Yigit Yildirim; Emre Ugur (CoRR, 2024)

Learning Early Social Maneuvers for Enhanced Social Navigation. - Yigit Yildirim; Mehmet Suzer; Emre Ugur (CoRR, 2024)

Bidirectional Human Interactive AI Framework for Social Robot Navigation. - Gülsüm Tuba Çibuk Girgin; Emre Girgin; Yigit Yildirim; Emre Ugur; Mehmet Haklidir (CoRR, 2024)

Learning Social Navigation from Demonstrations with Deep Neural Networks. - Yigit Yildirim; Emre Ugur (CoRR, 2024)

Affordance Blending Networks. - Hakan Aktas; Yukie Nagai; Minoru Asada; Erhan Öztop; Emre Ugur (CoRR, 2024)

VQ-CNMP: Neuro-Symbolic Skill Learning for Bi-Level Planning. - Hakan Aktas; Emre Ugur (CoRR, 2024)

RAMPA: Robotic Augmented Reality for Machine Programming and Automation. - Fatih Dogangun; Serdar Bahar; Yigit Yildirim; Bora Toprak Temir; Emre Ugur; Mustafa Doga Dogan (CoRR, 2024)

Diffusion Policies for Out-of-Distribution Generalization in Offline Reinforcement Learning. - Suzan Ece Ada; Erhan Öztop; Emre Ugur (IEEE Robotics Autom. Lett., 2024)

Object and relation centric representations for push effect prediction. - Ahmet Ercan Tekden; Aykut Erdem; Erkut Erdem; Tamim Asfour; Emre Ugur (Robotics Auton. Syst., 2024)

Predictive event segmentation and representation with neural networks: A self-supervised model assessed by psychological experiments. - Hamit Basgol; Inci Ayhan; Emre Ugur (Cogn. Syst. Res., 2024)

Discovering Predictive Relational Object Symbols With Symbolic Attentive Layers. - Alper Ahmetoglu; Batuhan Celik; Erhan Öztop; Emre Ugur (IEEE Robotics Autom. Lett., 2024)

Multi-step planning with learned effects of partial action executions. - Hakan Aktas; Utku Bozdogan; Emre Ugur (Adv. Robotics, 2024)

Correspondence Learning Between Morphologically Different Robots via Task Demonstrations. - Hakan Aktas; Yukie Nagai; Minoru Asada; Erhan Öztop; Emre Ugur (IEEE Robotics Autom. Lett., 2024)

Coupled Conditional Neural Movement Primitives. - Mehmet Pekmezci; Emre Ugur; Erhan Öztop (Neural Comput. Appl., 2024)

Unsupervised Meta-Testing With Conditional Neural Processes for Hybrid Meta-Reinforcement Learning. - Suzan Ece Ada; Emre Ugur (IEEE Robotics Autom. Lett., 2024)

Inferring effort-safety trade off in perturbed squat-to-stand task by reward parameter estimation. - Emir Arditi; Tjasa Kunavar; Negin Amirshirzad; Emre Ugur; Jan Babic; Erhan Öztop (Eng. Appl. Artif. Intell., 2025)

Human Attitudes in Robotic Path Programming: A Pilot Study of User Experience in Manual and XR-Controlled Robotic Arm Manipulation. - Oscar Escallada; Nagore Osa; Ganix Lasa; Maitane Mazmela; Fatih Dogangun; Yigit Yildirim; Serdar Bahar; Emre Ugur (Multimodal Technol. Interact., 2025)

Symbolic Manipulation Planning With Discovered Object and Relational Predicates. - Alper Ahmetoglu; Erhan Öztop; Emre Ugur (IEEE Robotics Autom. Lett., 2025)

Energy Weighted Learning Progress Guided Interleaved Multi-Task Learning. - Hanne Say; Suzan Ece Ada; Emre Ugur; Erhan Öztop (CoRR, 2025)

Rampa: Robotic Augmented Reality for Machine Programming by DemonstrAtion. - Fatih Dogangun; Serdar Bahar; Yigit Yildirim; Bora Toprak Temir; Emre Ugur; Mustafa Doga Dogan (IEEE Robotics Autom. Lett., 2025)

Predictability-Based Curiosity-Guided Action Symbol Discovery. - Burcu Kilic; Alper Ahmetoglu; Emre Ugur (CoRR, 2025)

Multiobject Graph Affordance Network: Goal-Oriented Planning Through Learned Compound Object Affordances. - Gülsüm Tuba Çibuk Girgin; Emre Ugur (IEEE Trans. Cogn. Dev. Syst., 2025)