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The correct title of this article is attentionSelection. The initial letter is shown capitalized due to technical restrictions.

Author(s): Jonas Ruesch, Alexandre Bernardino, Manuel Lopes

Module for selecting the attention towards some stimuli. For now it is just a basic maximum detector of the information produced by egosphere.

Back to iCub YARP module specifications

Compiler & Linker Dependencies

Include files




Run-time Dependencies

Module arguments

--name /iCub/attentionSelection   // input port containing egosphere saliency map; see#Input data files
--file <x:/path/to/config.ini>    // configuration file; see #Configuration files

Ports accessed

Ports that are assumed to exist prior to instantiation of the module (i.e. some other module must create them)

Ports created

Ports that are instantiated by the module and are then available for other modules to use (using yarp connect)

/chica/egosphere/ego/map         // input port for egosphere saliency map; see#Input data files
/chica/attentionselection        // output port ... 

Input data files


Output data files


Configuration files


User interface mechanism

Run-time modification of module parameters None.

OS on which the module was developed

Windows XP

OS on which the module was tested

Windows XP

Operating system dependencies


Example instantiation of the module

Run & port connection commands

REM Copyright (C) 2007 Jonas Ruesch
REM CopyPolicy: Released under the terms of the GNU GPL v2.0.

REM Simple example instantiation.
REM You need to adapt values between <> according to your environment in order to make this work.
REM The module configuration is loaded from a file specified by the --file option. To create this file
REM have a look at the default terminal output of the module. A module reports it's option keys 
REM and default values on startup. Some modules require an additional option --group which specifies
REM the name of the configuration group within the configuration file (specify without []).
REM We assume you compiled in release mode.

:: Start module
start <ICUB_DIR>\bin\release\attentionSelection.exe --name /iCub/attentionSelection --file <x:/path/to/config.ini>

:: Connect sources
yarp wait /iCub/attentionSelection/i:map
yarp connect </iCub/egoSphere/ego/map> /iCub/attentionSelection/i:map

See also iCub/scripts/startChicaAttentionSelection.bat

iCub Capabilities

iCub capability code

C4   Attention and action selection by modulation of capabilities
C5   Conditioning of modulation based on anticipation / prospection
C8   Exploratory, curiousity-driven, action
C9   Experience-based action selection based on interaction histories
C12  Focus attention and direct gaze on human faces (features, movements, sounds)

Refer to iCub capabilities for a complete list of iCub capabilities.

Other Yarp modules required to effect this capability


Example instantiation

An example of the instantiation of capability C8 is given in


Back to iCub YARP module specifications