3 papers
cs.RO2026
AFUN: Towards an Affordance Foundation Model for Functionality Understanding
Zhaoning Wang, Yi Zhong, Jiawei Fu +2
Affordance understanding bridges visual perception and physical action, serving as an explainable interface for robot manipulation in open and unstructured real-world environments.…
cs.RO2025
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Zihao He, Bo Ai, Tongzhou Mu +6
Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data shar…
cs.RO2025
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
Weikang Wan, Jiawei Fu, Xiaodi Yuan +2
Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity an…