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cs.RO2026
AffordJEV: Affordance Grounding by Confirming Candidate Regions
Jincheng Li, Yutian Zhang, Jianyu Zhang +2
Affordance grounding asks which visible part of an object performs a requested operation, a basic capability for embodied manipulation and human--robot interaction. Most existing m…
cs.RO2026
Learning Whole-Body Kinetic Coordination for Wheeled-Quadruped Long-Range Throwing
Qinglian Wu, Yidian Hu, Weiqi Fan +5
Long-range throwing on unstructured terrain is a key capability for mobile robots in delivery and retrieval tasks, but it requires high release velocity, coordinated whole-body mot…
cs.RO2026
FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
Yutian Zhang, Siyuan Ma, Liwen Yang +6
Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-lev…