Robotic Affordance Inference

Latest papers

20 papers1 paper in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

Cross-Embodiment Affordance Transfer for Robotic Manipulation
Oct 13, 2026Sawera Yaseen, Serge Thill, Rekha RajaAffordance-Based Robotic Manipulation Robotic Affordance Inference
School of Artificial Intelligence, Donders Centre for Cognition, Department of Human-Centred Intelligent Systems, Radboud University, Nijmegen, The Netherlands.
AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation
Sep 16, 2026Jiadi You, Qize Yu, Yue Chen +11Affordance-Based Robotic Manipulation World Models for Robotics
The University of Hong Kong · The Hong Kong University of Science and Technology (Guangzhou) · Peking University +3
A4A: Cross-Embodiment Transfer of Action-Oriented 4D Affordances from Human Demonstrations
Sep 5, 2026Yifan Han, Litao Liu, Yuqi Gu +7Affordance-Based Robotic Manipulation Robotic Manipulation
Shanghai Jiao Tong University · Rutgers University–New Brunswick · The Hong Kong University of Science and Technology (GZ) +2
VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances
Aug 5, 2026Jihoon Oh, Kento Kawaharazuka, Kei OkadaRobot Learning Robot Skill Learning
University of Tokyo, Japan
AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation
Aug 3, 2026Gaoyuan Wu, Ziyu Shan, Haoyang Du +2Visuomotor Policy Learning Robot Skill Learning
1Nanyang Technological University, Singapore
GROW $^2$ : Grounding Which and Where for Robot Tool Use
Jun 29, 2026Yuhong Deng, Yuyao Liu, David Hsu3D Visual Grounding Robotic Tool Use
1National University of Singapore · 2Massachusetts Institute of Technology
RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation
Jun 25, 2026Guodong Zhang, Qichen He, Wenyuan Xie +6Motion Planning Constrained Motion Planning
School of Computer Science, Shanghai Jiaotong University, Shanghai, P. R. China
What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning
Jun 4, 2026Rohan Siva, Neel P. Bhatt, Yunhao Yang +6Latent Visual Reasoning Robot Task Planning
1The University of Texas at Austin · 2Neurosymbolic Intelligence · University of Colorado Boulder
AFUN: Towards an Affordance Foundation Model for Functionality Understanding
Jun 1, 2026Zhaoning Wang, Yi Zhong, Jiawei Fu +2Generalization in Robotic Manipulation Language-Conditioned Robot Manipulation
University of Michigan · University of California, San Diego · NVIDIA
StateVLM: A State-Aware Vision-Language Model for Robotic Affordance Reasoning
May 5, 2026Xiaowen Sun, Matthias Kerzel, Mengdi Li +3Physical Reasoning VLM Adaptation
Department of Informatics, University of Hamburg, Germany · King Abdullah University of Science and Technology, Saudi Arabia
Affordance Agent Harness: Verification-Gated Skill Orchestration
May 1, 2026Haojian Huang, Jiahao Shi, Yinchuan Li +1Multimodal Grounding LLM Agent Orchestration
HKUST(GZ) · Knowin AI · Harbin Engineering University +1
Assessing VLM-Driven Semantic-Affordance Inference for Non-Humanoid Robot Morphologies
Apr 21, 2026Jess Jones, Raul Santos-Rodriguez, Sabine HauertVLM Evaluation Cross-Embodiment Robot Learning
Bristol Robotics Laboratory, University of Bristol Bristol, United Kingdom · University of Bristol Bristol, United Kingdom
ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints
Apr 16, 2026Pei-An Chen, Yong-Ching Liang, Jia-Fong Yeh +4Robot Task Planning Robot Manipulation Benchmarks
National Taiwan University · National Yang Ming Chiao Tung University · National Tsing Hua University
AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation
Apr 13, 2026Mingyang Li, Haofan Xu, Haowen Sun +10Affordance-Based Robotic Manipulation Robot Manipulation Datasets
School of Artificial Intelligence, Xi’an Jiaotong University
CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objects
Apr 2, 2026Jingliang Li, Jindou Jia, Tuo An +73D Affordance Grounding Robotic Affordance Inference
MARS Lab, Nanyang Technological University, Singapore
AffordTissue: Dense Affordance Prediction for Tool-Action Specific Tissue Interaction
Apr 1, 2026Aiza Maksutova, Lalithkumar Seenivasan, Hao Ding +5Robotic Affordance Inference Surgical Robotics
Johns Hopkins University, Baltimore MD, USA
RAAP: Retrieval-Augmented Affordance Prediction with Cross-Image Action Alignment
Mar 31, 2026Qiyuan Zhuang, He-Yang Xu, Yijun Wang +3Robotic Affordance Inference Affordance-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
arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery
Mar 26, 2026Nan Xiao, Yunxin Fan, Farong Wang +1Robotic Affordance Inference Surgical Robotics
University of Tennessee, Knoxville, TN, USA · Stanford University, Palo Alto, CA, USA
Coupled Particle Filters for Robust Affordance Estimation
Mar 16, 2026Patrick Lowin, Vito Mengers, Oliver BrockRobotic Affordance Inference Robotic Manipulation
Robotics and Biology Laboratory, Technische Universität Berlin · Robotics Institute Germany · Science of Intelligence (SCIoI), Cluster of Excellence, Berlin, Germany
RoboPCA: Pose-centered Affordance Learning from Human Demonstrations for Robot Manipulation
Mar 8, 2026Zhanqi Xiao, Ruiping Wang, Xilin ChenRobotic Affordance Inference Affordance-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.

Oct 13, 2026J/K move · Enter open · S save

Cross-Embodiment Affordance Transfer for Robotic Manipulation

Sawera Yaseen, Serge Thill, Rekha Raja

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

Affordance-Based Robotic Manipulation Robotic Affordance Inference Robotic Manipulation Robot Learning Cross-Embodiment Robot Learning

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Robotic manipulation systems commonly learn object affordances from human-annotated datasets, which reflect interaction possibilities for a human hand rather than the physical constraints of a specific robot. For example, a surface region of an object identified as graspable by a human annotator may be geometrically unreachable or mechanically infeasible for a robot, yet this mismatch is rarely addressed explicitly. To tackle this challenge, we proposed a framework that translates human affordance annotations into robot-executable affordance predictions conditioned on the physical properties of the robot. The network predicts which surface regions of an object are physically executable by the robot, given a 3D point cloud of an object and a descriptor encoding the robot's geometry and constraints. The model was trained using human-annotated affordances together with robotic execution outcomes from multiple sampled approach trials in simulation, where execution outcomes determined which regions are executable for the robot. The evaluation was performed on a household objects dataset using two parallel-jaw gripper configurations on a UR5e robot arm. The framework outperformed a model that does not receive information about the robot. The experimental results demonstrated that affordance prediction must be conditioned on the robot and that human annotations alone are insufficient for learning robot-executable affordance representations.