Affordance-Based Robotic Manipulation

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26 papers3 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

  1. MessyNav: Zero-Shot Navigation via Manipulation in Messy Environments

    Nov 5, 2026Kenneth Llontop, Cherie Ho, Dylan Zhou +4Robot NavigationVLMs for Robotics

    Stanford University · UC Berkeley

  2. HuG: Learning Humanoid Whole-Body Affordance-Aware Grasping with Active Perception

    Nov 1, 2026Xuanbin Peng, Lai Wei, Yuze Zhai +4Robotic GraspingWhole-Body Robotic Manipulation

    UC San Diego

  3. MAST-VLA: Skill-Conditioned Adaptation with Trajectory-Affordance Priors for Multi-Skill Robot Manipulation

    Oct 23, 2026Jiachi Yang, Zhiyi Xu, Hongquan Zhang +4Multi-Task Robotic ManipulationVLA Model Adaptation

    Shanghai Innovation Institute · Tianjin University · Tongji University +1

  4. Cross-Embodiment Affordance Transfer for Robotic Manipulation

    Oct 13, 2026Sawera Yaseen, Serge Thill, Rekha RajaAffordance-Based Robotic ManipulationRobotic Affordance Inference

    School of Artificial Intelligence, Donders Centre for Cognition, Department of Human-Centred Intelligent Systems, Radboud University, Nijmegen, The Netherlands.

  5. AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation

    Sep 16, 2026Jiadi You, Qize Yu, Yue Chen +11Affordance-Based Robotic ManipulationWorld Models for Robotics

    The University of Hong Kong · The Hong Kong University of Science and Technology (Guangzhou) · Peking University +3

  6. From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction

    Sep 16, 2026Zheng Li, Liang Zhu, Junzhe Wang +13Affordance-Based Robotic ManipulationRobot Policy Learning

    The Hong Kong University of Science and Technology (Guangzhou). · The University of Hong Kong. · Tsinghua University.

  7. A4A: Cross-Embodiment Transfer of Action-Oriented 4D Affordances from Human Demonstrations

    Sep 5, 2026Yifan Han, Litao Liu, Yuqi Gu +7Affordance-Based Robotic ManipulationRobotic Manipulation

    Shanghai Jiao Tong University · Rutgers University–New Brunswick · The Hong Kong University of Science and Technology (GZ) +2

  8. A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

    Sep 1, 2026Duncan Calvert, Luigi Penco, Dexton Anderson +4Affordance-Based Robotic ManipulationHumanoid Loco-Manipulation

    Florida Institute for Human and Machine Cognition, 40 S Alcaniz St, Pensacola, FL 32502, USA. · University of West Florida, 11000 University Pkwy, Pensacola, FL 32514, USA.

  9. VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances

    Aug 5, 2026Jihoon Oh, Kento Kawaharazuka, Kei OkadaRobot LearningRobot Skill Learning

    University of Tokyo, Japan

  10. AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation

    Aug 3, 2026Gaoyuan Wu, Ziyu Shan, Haoyang Du +2Visuomotor Policy LearningRobot Skill Learning

    1Nanyang Technological University, Singapore

  11. Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion

    Jul 13, 2026Solvi Arnold, Rin Karashima, Tadashi Adachi +2Affordance-Based Robotic ManipulationWorld Models for Robotics

    SA is at NICT, Japan. Work performed while at Shinshu University, Japan. · Work performed while at Shinshu University, Japan. · RK, TA, TM are at EPSON Avasys, Japan. +1

  12. GROW2^2: Grounding Which and Where for Robot Tool Use

    Jun 29, 2026Yuhong Deng, Yuyao Liu, David Hsu3D Visual GroundingRobotic Tool Use

    National University of Singapore · Massachusetts Institute of Technology

  13. RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

    Jun 25, 2026Guodong Zhang, Qichen He, Wenyuan Xie +6Motion PlanningConstrained Motion Planning

    School of Computer Science, Shanghai Jiaotong University, Shanghai, P. R. China

  14. GRAFT: Graph-Based Affordance Transfer via Part Correspondence

    Jun 23, 2026Mengying Lin, Utkarsh Mishra, Ajay Mandlekar +1Zero-Shot Robotic ManipulationGeneralization in Robotic Manipulation

    Georgia Institute of Technology · NVIDIA

  15. Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation

    Jun 2, 2026Litao Liu, Yifan Han, Pengfei Yi +9Language-Conditioned Robot ManipulationRobotic Manipulation

    Department of Computer Science, Rutgers University-New Brunswick · The Hong Kong University of Science and Technology (GZ) · Shanghai AI Laboratory

  16. AFUN: Towards an Affordance Foundation Model for Functionality Understanding

    Jun 1, 2026Zhaoning Wang, Yi Zhong, Jiawei Fu +2Generalization in Robotic ManipulationLanguage-Conditioned Robot Manipulation

    University of Michigan · University of California, San Diego · NVIDIA

  17. AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation

    Apr 13, 2026Mingyang Li, Haofan Xu, Haowen Sun +10Affordance-Based Robotic ManipulationRobot Manipulation Datasets

    School of Artificial Intelligence, Xi’an Jiaotong University

  18. AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondence

    Apr 12, 2026Jiawei Zhang, Kaizhe Hu, Yingqian Huang +3Affordance-Based Robotic ManipulationRobotic Manipulation

    Shanghai Qi Zhi Institute · Tsinghua University · Fudan University +1

  19. RAAP: Retrieval-Augmented Affordance Prediction with Cross-Image Action Alignment

    Mar 31, 2026Qiyuan Zhuang, He-Yang Xu, Yijun Wang +3Robotic Affordance InferenceAffordance-Based Robotic Manipulation

    School of Computer Science and Engineering, and Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications, Southeast University, Nanjing 211189, China · Southeast University-Monash University Joint Graduate School, Southeast University, Suzhou 215123, China · School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

  20. UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation

    Mar 27, 2026Hao Li, Long Yin Chung, Jack Goler +5Affordance-Based Robotic ManipulationRobotic Grasping

    All authors are with Stanford University.

  21. Agile-VLA: Few-Shot Industrial Pose Rectification via Implicit Affordance Anchoring

    Mar 24, 2026Teng Yan, Zhengyang Pei, Chengyu Shi +8Affordance-Based Robotic ManipulationRobotic Manipulation

    The Hong Kong University of Science and Technology (Guangzhou)

  22. BiPreManip: Learning Affordance-Based Bimanual Preparatory Manipulation through Anticipatory Collaboration

    Mar 23, 2026Yan Shen, Feng Jiang, Zichen He +5Affordance-Based Robotic ManipulationRobotic Manipulation

    CFCS, School of Computer Science, Peking University

  23. RoboPCA: Pose-centered Affordance Learning from Human Demonstrations for Robot Manipulation

    Mar 8, 2026Zhanqi Xiao, Ruiping Wang, Xilin ChenRobotic Affordance InferenceAffordance-Based Robotic Manipulation

    The authors are with the Key Laboratory of AI Safety of CAS, Institute of Computing Technology, Chinese Academy of Sciences (CAS), Beijing, 100190, China, and also with the University of Chinese Academy of Sciences, Beijing 100049, China.

  24. GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoning

    Mar 4, 2026Mingleyang Li, Yuran Wang, Yue Chen +6Affordance-Based Robotic ManipulationRobotic Manipulation

    Peking University · The University of Hong Kong · Northwestern University

  25. Actron3D: Learning Actionable Neural Functions from Videos for Transferable Robotic Manipulation

    Oct 14, 2025Anran Zhang, Hanzhi Chen, Yannick Burkhardt +4Robot Learning from VideoAffordance-Based Robotic Manipulation

    ETH Zurich · Technical University of Munich

  26. AFFORD2ACT: How Far Can Sparse Keypoints Go for Robot Manipulation?

    Oct 1, 2025Anukriti Singh, Kasra Torshizi, Khuzema Habib +3Robotic ManipulationData-Efficient Robot Learning

    Department of Computer Science, University of Maryland, College Park, MD, USA.