We sketch a computational model for affordance that can represent complicated activities and can account for the dynamic and continuous nature of real-world scenarios.
@incollection{sarathyscheutz2015iros,
title={Semantic Representation of Objects and Function},
author={Vasanth Sarathy and Matthias Scheutz},
year={2015},
booktitle={Proceedings of the 2015 IROS Workshop on Learning Object Affordances},
url={https://hrilab.tufts.edu/publications/sarathyscheutz2015iros.pdf}
}