Semantic labeling of 3D point clouds with object affordance for robot manipulation. - David Inkyu Kim; Gaurav S. Sukhatme (ICRA, 2014)

Interactive affordance map building for a robotic task. - David Inkyu Kim; Gaurav S. Sukhatme (IROS, 2015)

Human centric spatial affordances for improving human activity recognition. - David Inkyu Kim; Eric Martinson (IROS, 2016)