Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks

arXiv:2608.25641 · cs.RO, cs.AI · Submitted 2026-08-26 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-08-26

Updated: 2026-08-26

Terminology

• Affordance — 71× in this paper · explained in 1 episode
• Task Planning — 22× in this paper · explained in 2 episodes
• Abstraction — 18× in this paper · explained in 1 episode
• Task and Motion Planning — 11× in this paper
• Physical Constraints — 8× in this paper · explained in 7 episodes
• Affordance Detection — 5× in this paper · explained in 1 episode
• Vision-Language Model — 3× in this paper
• Grounding — 2× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• F1 Score — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Planning Domain Definition Language — 1× in this paper

Sources

• Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints
• Bootstrapping Object-level Planning with Large Language Models

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