Peng-Wen Xiong

Zero-Shot Affordance Exposure for Robotic Manipulation Via Object Repositioning

Robotic manipulation relies on perceiving the object region that affords an instructed interaction, yet often assumes that this region is visible and accessible. In cluttered scenes, however, a handle, blade, tip, or other task-relevant region may be occluded. This paper introduces a zero-shot affordance exposure frame...