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Tzu-Jung Lin

dblp:234/4955 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2026
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Graphics, computer vision, multimedia, augmented reality and games · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 61% Motion planning and robot control · 30% Vision and language · 9%

Topics — the 3 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation
mobile manipulation
1.012026
Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation · AAAI 2026
Robotics › Robot manipulation › mobile manipulation
open-vocabulary mobile manipulation
1.012026
Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation · AAAI 2026
Computer vision › Vision and language
vision-language model
0.312026
Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation · AAAI 2026

Methods — techniques the papers use, named apart from their topics

iterative optimization · 1.0coarse-to-fine exploration · 1.0affordance reasoning · 1.0
YearPublicationVenuePosition
2026 Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation
abstract
In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances, resulting in frequent manipulation failures. We propose Affordance-Guided Coarse-to-Fine Exploration, a zero-shot framework for base placement that integrates semantic understanding from vision-language models (VLMs) with geometric feasibility through an iterative optimization process. Our method constructs cross-modal representations, namely Affordance RGB and Obstacle Map+, to align semantics with spatial context. This enables reasoning that extends beyond the egocentric limitations of RGB perception. To ensure interaction is guided by task-relevant affordances, we leverage coarse semantic priors from VLMs to guide the search toward task-relevant regions and refine placements with geometric constraints, thereby reducing the risk of convergence to local optima. Evaluated on five diverse open-vocabulary mobile manipulation tasks, our system achieves an 85% success rate, significantly outperforming classical geometric planners and VLM-based methods. This demonstrates the promise of affordance-aware and multimodal reasoning for generalizable, instruction-conditioned planning in OVMM.
Tzu-Jung Lin, Jia-Fong Yeh, Hung-Ting Su, Winston H. Hsu
AAAI1