Understanding 3D affordance is essential for agents to effectively interact with real-world environments, encompassing tasks such as manipulation and navigation. Existing methods typically support open-vocabulary queries through label-based language descriptions but often suffer from limited generalization and weak discriminative ability in their representations. However, affordance understanding requires constructing a coherent semantic landscape from fragmented linguistic expressions-one that preserves intra-class diversity while minimizing inter-class overlap. To address these challenges, we introduce Aff3DFunc, a framework designed to enhance the alignment between affordance and 3D geometry. It begins with a functional text enhancement module grounded in the Information Bottleneck (IB) principle, which strategically enriches affordance semantics by maximizing both relevance and diversity. A dual-encoder architecture is then employed to extract embeddings from both point clouds and text. To bridge the modality gap, we further propose a multilevel representation alignment strategy that incorporates supervised contrastive learning, reinforcing semantic-geometric correspondence in a part-to-whole manner. Extensive experiments demonstrate that our approach significantly enhances the understanding of affordance complexity. The learned representations exhibit high adaptability to diverse text queries, particularly in zero-shot settings. Furthermore, the real-world robot validation confirms that our method improves affordance understanding, enabling more fine-grained manipulation tasks.

Generating realistic 3D human-object interactions (HOIs) remains a challenging task due to the difficulty of modeling detailed interaction dynamics. Existing methods treat human and object motions independently, resulting in physically implausible and causally inconsistent behaviors. In this work, we present HOI-Dyn, a novel framework that formulates HOI generation as a driver-responder system, where human actions drive object responses. At the core of our method is a lightweight transformer-based interaction dynamics model that explicitly predicts how objects should react to human motion. To further enforce consistency, we introduce a residual-based dynamics loss that mitigates the impact of dynamics prediction errors and prevents misleading optimization signals. The dynamics model is used only during training, preserving inference efficiency. Through extensive qualitative and quantitative experiments, we demonstrate that our approach not only enhances the quality of HOI generation but also establishes a feasible metric for evaluating the quality of generated interactions. Project website: https://wulin97.github.io/hoi-dyn

Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space to improve place recognition in dynamic environments. We achieve this by first designing a novel deep learning architecture to generate the static semantic segmentation and recover the static image directly from the corresponding dynamic image. We then innovatively leverage the spatial-pyramid-matching model to encode the static semantic segmentation into feature vectors. In parallel, the static image is encoded using the popular Bag-of-words model. On the basis of the above multi-modal features, we finally measure the similarity between the query image and target landmark by the joint similarity of their semantic and visual codes. Extensive experiments demonstrate the effectiveness and robustness of the proposed approach for place recognition in dynamic environments.