Author

Qi Zhang

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Preprint Sep 2026

A4A: Cross-Embodiment Transfer of Action-Oriented 4D Affordances from Human Demonstrations

Human demonstrations contain rich manipulation knowledge, but it remains unclear what information can be transferred effectively to robot control. Existing affordance representations are typically formulated as 2D masks, 3D regions, contact points, or actionability scores, and therefore primarily identify where interac...

Yi-Fan Han, Li-Tao Liu, Yu Gu et al. · 1 citation

#artificial intelligence Preprint Sep 2026

Affordance-Conditioned Decision Making: Bridging the Semantic-Spatial Gap in Zero-Shot Cross-Floor Vision-and-Language Navigation

Vision-and-language navigation increasingly relies on general-purpose semantic planners, yet translating correct high-level intent into reliable physical execution remains difficult in spatially constrained transitions. Reaching a staircase, doorway, or narrow passage does not ensure traversal; the agent must identify...

Xue-Kang Yang, Lu-Yao Chen, Shuang Luo et al. · 0 citations