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cs.RO2025
OAfford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation
Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo
Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works…
cs.RO2025
CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation
Sung-Wook Lee, Xuhui Kang, Brandon Yang +1
Recent advances in Behavior Cloning (BC) have led to strong performance in robotic manipulation, driven by expressive models, sequence modeling of actions, and large-scale demonstr…
cs.LG2025
Moving Out: Physically-grounded Human-AI Collaboration
Xuhui Kang, Sung-Wook Lee, Haolin Liu +2
The ability to adapt to physical actions and constraints in an environment is crucial for embodied agents (e.g., robots) to effectively collaborate with humans. Such physically gro…