How to Separate Containers From Non-Containers? A Behavior-Grounded Approach to Acoustic Object Categorization S. Griffith, J. Sinapov, V. Sukhoy, and A. Stoytchev Developmental Robotics Laboratory Iowa State University An interactive approach to object categorization is introduced that couples robot behaviors and their acoustic signatures to form object categories. A container/non-container categorization task was used to test the approach. A large-scale experimental study with 12,000 behavioral interactions was performed. The robot was able to form meaningful object categories using only acoustic information. Figure caption is optional, use Arial Narrow 20pt