3 papers
cs.RO2026
OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
Xinzhe Chen, Sihua Ren, Liqi Huang +5
Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or…
cs.RO2026
AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation
Mingyang Li, Haofan Xu, Haowen Sun +10
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent acti…
cs.CV2026
VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection
Haowen Sun, Shaolong Zhang, Mingyang Li +6
Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language…