Experimental setup.

The robotic platform consists of a pan-camera and an arm. In the experimentation phase, objects are presented by pairs (placed on Obj1/Obj2 positions). The robot can perform two kinds of actions: 1) FocusAction consists in turning the camera toward the most salient object in the scene; 2) ObjectAction consists in moving the arm to the left or the right whenever one of the targets is recognized. TargetX/actionTargetX associations are learned during the task learning phase.