README Code for computing SURF Bag-of-Words representations for the dataset described in: Sinapov, J., Khante, P., Svetlik, M., and Stone, P. (2016). Learning to Order Objects using Haptic and Proprioceptive Exploratory Behaviors In proceedings of the 2016 International Joint Conference on Artificial Intelligence (IJCAI) Thomason, J., Sinapov, J., Svetlik, M., Stone, P., and Mooney, R. (2016). Learning Multi-Modal Grounded Linguistic Semantics by Playing I, Spy In proceedings of the 2016 International Joint Conference on Artificial Intelligence (IJCAI) In addition to ROS, you need the following: sudo add-apt-repository --yes ppa:xqms/opencv-nonfree sudo apt-get update sudo apt-get install libopencv-nonfree-dev