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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
CompassAD: Intent-Driven 3D Affordance Grounding in Funct...
Jingliang Li, Jindou Jia, Tuo An, Chuhao Zhou, Xiangyu Chen, Shi · 2026-04-02 · via cs.RO updates on arXiv.org

When told to "cut the cake," a robot must choose the knife over nearby scissors, despite both objects affording the same cutting function. In real-world scenes, multiple objects may share identical affordances, yet only one is appropriate under the given task context. We call such cases confusing pairs. However, existing 3D affordance methods largely sidestep this challenge by evaluating isolated single objects, often with explicit category names provided in the query. We formalize Intent-Driven Confusable Affordance Grounding, a new 3D affordance setting that requires predicting a per-point affordance mask on the correct object within a multi-object point cloud, conditioned on implicit natural language intent. To study this problem, we construct CompassAD, the first benchmark centered on implicit intent in confusing multi-object compositions. It comprises 30 confusing object pairs spanning 16 affordance types, 6,422 compositions, and 88K+ query-answer pairs. Furthermore, we propose CompassNet, a framework that incorporates two dedicated modules tailored to this task. Instance-bounded Cross Injection (ICI) constrains language-geometry alignment within object boundaries to prevent cross-object semantic leakage. Bi-level Contrastive Refinement (BCR) enforces discrimination at both geometric-group and point levels, sharpening distinctions between target and confusable surfaces. Extensive experiments demonstrate state-of-the-art results on both seen and unseen queries, and deployment on a robotic manipulator confirms effective transfer to real-world grasping in confusing multi-object compositions.