Author

Yue-Xin Ma

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#artificial intelligence Preprint Sep 2026

UniAfford: Token-Routed Multitask Learning for Generalizable 2D-3D Affordance Perception

Affordance perception aims to localize actionable regions supporting embodied interaction, yet 2D and 3D affordance grounding have evolved as separate problems, with different task definitions, supervision formats, datasets, and evaluation protocols. This fragmentation limits the learning of transferable object-afforda...

Yu-Hao Liu, Yi-Ming Zhong, Han-Qing Wang et al. · 0 citations

#artificial intelligence Apr 2026

FastGrasp: Learning-based Whole-body Control method for Fast Dexterous Grasping with Mobile Manipulators

Fast dexterous grasping while a mobile base remains in motion requires coordinated whole-body control and rapid adaptation to physical contact and this work proposes FastGrasp, a two-stage learning framework that integrates grasp guidance, whole-body control, and tactile feedback.

Heng Tao, Yi-Ming Zhong, Zemin Yang et al. · arXiv.org · 0 citations