Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with sampling-based whole-body control. We introduce the concept of agent-aware affordances which fully reflect the agent's capabilities and embodiment and we show that they outperform their state-of-the-art counterparts which are only conditioned on the end-effector geometry. Additionally, closed-loop affordance inference is found to allow the agent to divide a task into multiple non-continuous motions and recover from failure and unexpected states. Finally, the pipeline is able to perform long-horizon mobile manipulation tasks, i.e. opening and closing an oven, in the real world with high success rates (opening: 71%, closing: 72%).
Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noise
Hyperplane Lab, School of CS, Peking University（北京大学计算机学院超平面实验室）；National Key Laboratory for Multimedia Information Processing（多媒体信息处理国家重点实验室）；Huawei（华为）
Learning Environment-Aware Affordance for 3D Articulated Object Manipulation under Occlusions
CFCS, School of CS, PKU（计算机学院，北京大学）；School of EECS, PKU（电子工程系，北京大学）；University of Oxford（牛津大学）；National Key Laboratory for Multimedia Information Processing, School of CS, PKU（多媒体信息处理国家重点实验室，计算机学院，北京大学）
Adaptive Articulated Object Manipulation On The Fly with Foundation Model Reasoning and Part Grounding
Beijing University of Posts and Telecommunications（北京邮电大学）；School of Computer Science, Peking University（北京大学计算机学院）；School of EECS, Peking University（北京大学电子工程学院）
UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models
Shanghai Jiao Tong University（上海交通大学）；Hong Kong University of Science and Technology（香港科技大学）；National University of Singapore（新加坡国立大学）；Rutgers University（罗格斯大学）；Hefei University of Technology（合肥工业大学）；Shanghai AI Lab（上海人工智能实验室）
iGPC: Generative Motion Priors for Object-Aware Humanoid Interaction
Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）；Massachusetts Institute of Technology (MIT)（麻省理工学院）；Minerva Humanoids, Inc.（Minerva Humanoids公司）
Sim2Real$^2$: Actively Building Explicit Physics Model for Precise Articulated Object Manipulation
Tsinghua University（清华大学）；Beijing University of Posts and Telecommunications（北京邮电大学）；AVIC Chengdu Aircraft Industrial (Group) Co., Ltd（中航工业成都飞机工业（集团）有限责任公司）
Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning
Department of Computer Science, Technical University of Darmstadt（达姆施塔特工业大学计算机科学系）；German Research Center for AI (DFKI)（德国人工智能研究中心）；Centre for Cognitive Science, Technical University of Darmstadt（达姆施塔特工业大学认知科学中心）；Hessian Center for Artificial Intelligence (Hessian.AI), Darmstadt（黑森州人工智能中心）；Robotics Institute Germany (RIG)（德国机器人研究所）
DexSim2Real$^{2}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation
Department of Mechanical Engineering, Tsinghua University（清华大学机械工程系）；Institute for Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology（机器人与智能机器研究所（IRIM），佐治亚理工学院）；JD Explore Academy, Beijing, China（京东探索研究院，北京，中国）
Affordance-Aware Interactive Decision-Making and Execution for Ambiguous Instructions
Department of Automation, Tsinghua University（清华大学自动化系）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Institute for Interdisciplinary Information Sciences, Tsinghua University（清华大学交叉信息学院）；Computer Science and Engineering Department, Chinese University of Hong Kong（香港中文大学计算机科学与工程系）
Hierarchical Reinforcement Learning for Articulated Tool Manipulation with Multifingered Hand
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University（机械系统与振动国家重点实验室，机械工程学院，上海交通大学）；Shanghai Key Laboratory of Intelligent Robotics, Meta Robotics Institute, Shanghai Jiao Tong University（智能机器人上海重点实验室，元机器人研究院，上海交通大学）
A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots
University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所）；University of Zagreb Faculty of Electrical Engineering and Computing（萨格勒布大学电气工程与计算学院）
PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
University of Pennsylvania（宾夕法尼亚大学）；University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Nanyang Technological University（南洋理工大学）；University of Oxford（牛津大学）；Massachusetts Institute of Technology（麻省理工学院）
Learning to Act with Affordance-Aware Multimodal Neural SLAM
Amazon Alexa AI（亚马逊Alexa人工智能）；University of Southern California（南加州大学）；University of California, San Diego（加州大学圣迭戈分校）；University of California, Los Angeles（加州大学洛杉矶分校）
AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation
The University of Hong Kong（香港大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Peking University（北京大学）；The Chinese University of Hong Kong（香港中文大学）；National University of Singapore（新加坡国立大学）；Knowin AI（考拉悠然科技）
Online Estimation and Manipulation of Articulated Objects
RIPL-Lab, University of Waterloo, Canada（滑铁卢大学）；Robot Learning Lab, University of Freiburg, Germany（弗赖堡大学）；School of Informatics, University of Edinburgh, UK（爱丁堡大学）
Part-Guided 3D RL for Sim2Real Articulated Object Manipulation
Beijing National Research Center for Information Science and Technology (BNRist)（北京信息科学与技术国家研究中心（BNRist））；Shanghai AI Laboratory（上海人工智能实验室）；University of California San Diego（加利福尼亚大学圣迭戈分校）；Tsinghua University（清华大学）
Kinematic-aware Prompting for Generalizable Articulated Object Manipulation with LLMs
Gaoling School of Artificial Intelligence, Renmin University of China（中国人民大学高瓴人工智能学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Northwestern Polytechnical University（西北工业大学）；Institute of Artificial Intelligence, China Telecom Corp Ltd（中国电信股份有限公司人工智能研究院）
Learning Granularity-Aware Affordances from Human-Object Interaction for Tool-Based Functional Dexterous Grasping
School of Artificial Intelligence and Robotics, Hunan University（人工智能与机器人学院，湖南大学）；National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University（机器人视觉感知与控制技术国家工程研究中心，湖南大学）
AffordGrasp: Cross-Modal Diffusion for Affordance-Aware Grasp Synthesis
ShanghaiTech University（上海科技大学）；Shanghai Engineering Research Center of Intelligent Vision and Imaging（上海智能视觉与成像工程技术研究中心）；University of Science and Technology of China（中国科学技术大学）
DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation
TAMS (Technical Aspects of Multimodal Systems), Department of Informatics, Universität Hamburg（技术多模态系统（TAMS），信息学院，汉堡大学）；Agile Robots AG（敏捷机器人公司）；Technical University of Munich（慕尼黑技术大学）
