Affordance Learning from Play for Sample-Efficient Policy Learning. - Jessica Borja-Diaz; Oier Mees; Gabriel Kalweit; Lukás Hermann; Joschka Boedecker; Wolfram Burgard (ICRA, 2022)

Grounding Language with Visual Affordances over Unstructured Data. - Oier Mees; Jessica Borja-Diaz; Wolfram Burgard (ICRA, 2023)