@INPROCEEDINGS{montesano07iros, author = {Luis Montesano and Manuel Lopes and Alexandre Bernardino and Jos{\'e} Santos-Victor}, title = {Modeling Affordances using Bayesian networks}, booktitle = {IEEE - Intelligent Robotic Systems (IROS'07)}, year = {2007}, address = {USA}, url = {pdfs/montesano07IROS.pdf} }