3 papers
cs.RO2026
Phase-Conditioned Affordance Fields for SE(3)-Equivariant Visuomotor Policies
Xinzhe Chen, Liqi Huang, Sihua Ren +5
SE(3)-equivariance provides a useful geometric inductive bias for visuomotor policies, encoding that actions covary with rigid transformations of the observation. However, existing…
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…