Author

Xuguang Lan

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#artificial intelligence Apr 2026

AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation

AffordSim is introduced, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation and achieves 93% of the trajectory collection success rate of manual contact annotations on affordance-critical tasks and 89% on hard composite tasks.

Ming-Yang Li, Hao Xu, Hao-Wen Sun et al. · arXiv.org · 0 citations

2026

DualSkill: Unifying Discrete Stability and Continuous Flexibility for Embodied Control

Learning to execute complex, multi-stage tasks requires skill representations that are both compositionally stable and adaptive in execution. Existing hierarchical approaches often face a fundamental trade-off: continuous skills suffer from representational drift due to unconstrained embedding boundaries, while discret...

Ziru Wang, Long Qian, Hao-Wen Sun et al. · IEEE Transactions on Automat... · 0 citations

Conference Open access Sep 2026

Safety-Aware Shared Autonomy via World-Model Constrained Planning

World Model Assisted Safety Planning is proposed, a model-predictive shared autonomy framework for explicit safety constraint satisfaction that substantially reduces safety violations while preserving task performance and reducing unnecessary interventions over prior shared autonomy baselines.

Zecheng Shi, Jia-Wei Ye, Zeyang Liu et al. · Proceedings of the Thirty-Fi... · 0 citations