@article {11573/928086, title = {{Learning human-robot handovers through π-STAM: Policy improvement with spatio-temporal affordance maps}}, volume = {{False}}, number = {{False}}, year = {2016}, pages = {857-863}, keywords = {Hardware and Architecture, Human-Computer Interaction}, {1707}, doi = {{10.1109/HUMANOIDS.2016.7803373}}, author = {Riccio, Francesco and Capobianco, Roberto and Nardi, Daniele} }