arxivcs.CVcs.RO2026-06-25
Learning 3D Affordances for Blade Insertion in Cluttered Stowing
Tianyu Li, Harpreet Sawhney, Minju Jung, Aditya Mehrotra, Kunal Mehrotra, Mudit Agrawal
Many manipulation tasks require reasoning about free-space affordances: discovering volumes where an extended rigid tool can safely navigate, complementary to surface contact affordances for grasping. Robotic stowing is a canonical instance, where a blade must sweep items aside i…