Inspired by the self-exploring learning approach, this paper proposes an object-learning system in which a robot interacts with objects to obtain their features and construct object concepts. The system consists of three kinds of features: Interaction features, visual features, and intrinsic features. When the robot interacts with an object, it observes the changes in the object to obtain its interaction features. At the same time, the robot learns the visual features of the object. The intrinsic features are the properties of the object. Models of the relationships among the three kinds of features are constructed through an Artificial Bee Colony based Random Forest algorithm and a Convolutional Neural Network. The established models help the robot to predict the properties of new objects and to make decisions. Two experiments are constructed in this paper: The service-providing task and the stacking task. In the former, the robot decides on an appropriate object, using the object concept models, to accomplish an appointed task. In the second experiment, the robot uses a Gated Recurrent Neural Network to learn the stacking sequence of various objects. All the experimental results demonstrate that the robot can build object concept models by interacting with objects, and can utilize these models to accomplish various tasks.