Unsupervised learning of affordance relations on a humanoid robot. - Baris Akgün; Nilgün Dag; Tahir Bilal; Ilkay Atil; Erol Sahin (ISCIS, 2009)

Affordances and Emergence of Concepts. - Ilkay Atil; Nilgün Dag; Sinan Kalkan; Erol Sahin (EpiRob, 2010)

Learning Affordances for Categorizing Objects and Their Properties. - Nilgün Dag; Ilkay Atil; Sinan Kalkan; Erol Sahin (ICPR, 2010)