Affordance-Based Robotic Manipulation

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21 papers2 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

  1. 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.

  2. 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

  3. 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.

  4. 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

  5. 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.

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

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

    University of Tokyo, Japan

  7. 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

  8. 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

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

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

    1National University of Singapore · 2Massachusetts Institute of Technology

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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

  16. 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

  17. 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.

  18. 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)

  19. 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

  20. 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.

  21. 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