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cs.RO2026
A4A: Cross-Embodiment Transfer of Action-Oriented 4D Affordances from Human Demonstrations
Yifan Han, Litao Liu, Yuqi Gu +7
Human demonstrations contain rich manipulation knowledge, but it remains unclear what information can be transferred effectively to robot control. Existing affordance representatio…
cs.RO2026
BridgeACT: Bridging Human Demonstrations to Robot Actions via Unified Tool-Target Affordances
Yifan Han, Jianxiang Liu, Haoyu Zhang +3
Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior…