@INPROCEEDINGS{krunic09icra, author = {V. Krunic AND G. Salvi AND A. Bernardino AND L. Montesano AND J. Santos-Victor}, title = {Affordance Based Word-To-Meaning Association}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2009}, address = {Kobe, Japan}, url = {pdfs/verica10ICRA.pdf} }