{"id":"https://openalex.org/W7126023929","doi":"https://doi.org/10.48550/arxiv.2601.20208","title":"TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinement","display_name":"TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinement","publication_year":2026,"publication_date":"2026-01-28","ids":{"openalex":"https://openalex.org/W7126023929","doi":"https://doi.org/10.48550/arxiv.2601.20208"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2601.20208","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124228206","display_name":"Wanjun Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jia, Wanjun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124157775","display_name":"Kang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Kang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124192058","display_name":"Fan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Fan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124184108","display_name":"Mengfei Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Mengfei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106498485","display_name":"Wenrui Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Wenrui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067547588","display_name":"Yiming Jiang","orcid":"https://orcid.org/0009-0002-8071-2894"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yiming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124295804","display_name":"Hui Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124269201","display_name":"Kailun Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Kailun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124210749","display_name":"Zhiyong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhiyong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5124179882","display_name":"Yaonan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yaonan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5124228206"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8611999750137329,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8611999750137329,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.020099999383091927,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.014399999752640724,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.8981999754905701},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.7235999703407288},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4724999964237213},{"id":"https://openalex.org/keywords/semantic-gap","display_name":"Semantic gap","score":0.46799999475479126},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4388999938964844},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.42309999465942383},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4189999997615814},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.41749998927116394}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8981999754905701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7870000004768372},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.7235999703407288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5551000237464905},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4724999964237213},{"id":"https://openalex.org/C86034646","wikidata":"https://www.wikidata.org/wiki/Q474311","display_name":"Semantic gap","level":4,"score":0.46799999475479126},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4388999938964844},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.42309999465942383},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4189999997615814},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.41749998927116394},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.39469999074935913},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3921000063419342},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32030001282691956},{"id":"https://openalex.org/C198942812","wikidata":"https://www.wikidata.org/wiki/Q496618","display_name":"Semantic property","level":2,"score":0.3050000071525574},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.30140000581741333},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26750001311302185},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25290000438690186}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2601.20208","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2601.20208","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.20208","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2601.20208","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6180687546730042}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,213],"central":[1],"challenge":[2],"in":[3,10],"robotic":[4,172],"manipulation":[5],"of":[6,29,157,198],"deformable":[7,189],"objects":[8],"lies":[9],"aligning":[11],"high-level":[12,92,206],"semantic":[13,72,207],"instructions":[14],"with":[15,61],"physical":[16,155,211],"interaction":[17,130],"points":[18],"under":[19],"complex":[20,31],"appearance":[21,147],"and":[22,33,46,76,154,169,185,209,216],"texture":[23],"variations.":[24],"Due":[25],"to":[26,74,90,118,126,141,188],"near-infinite":[27],"degrees":[28],"freedom,":[30],"dynamics,":[32],"heterogeneous":[34],"patterns,":[35],"existing":[36],"vision-based":[37],"affordance":[38,179],"prediction":[39,120],"methods":[40],"often":[41],"suffer":[42],"from":[43,70],"boundary":[44],"overflow":[45],"fragmented":[47],"functional":[48,79,160],"regions.":[49,161],"To":[50,106],"address":[51],"these":[52],"issues,":[53],"we":[54],"propose":[55],"TRACER,":[56],"a":[57,67,83,110,170],"Texture-Robust":[58],"Affordance":[59,85],"Chain-of-thought":[60],"dEformable-object":[62],"Refinement":[63,113,136],"framework,":[64],"which":[65],"establishes":[66],"cross-hierarchical":[68],"mapping":[69],"hierarchical":[71,96],"reasoning":[73,208],"appearance-robust":[75],"physically":[77],"consistent":[78,100],"region":[80],"refinement.":[81],"Specifically,":[82],"Tree-structured":[84],"Chain-of-Thought":[86],"(TA-CoT)":[87],"is":[88,116,139],"formulated":[89],"decompose":[91],"task":[93],"intentions":[94],"into":[95],"sub-task":[97],"semantics,":[98],"providing":[99],"guidance":[101],"across":[102,182],"various":[103],"execution":[104],"stages.":[105],"ensure":[107],"spatial":[108,152],"integrity,":[109],"Spatial-Constrained":[111],"Boundary":[112],"(SCBR)":[114],"mechanism":[115],"introduced":[117],"suppress":[119],"spillover,":[121],"guiding":[122],"the":[123,151,158,166,195,203],"perceptual":[124],"response":[125],"converge":[127],"toward":[128],"authentic":[129],"manifolds.":[131],"Furthermore,":[132],"an":[133],"Interactive":[134],"Convergence":[135],"Flow":[137],"(ICRF)":[138],"developed":[140],"aggregate":[142],"discrete":[143],"pixels":[144],"corrupted":[145],"by":[146],"noise,":[148],"significantly":[149,177],"enhancing":[150],"continuity":[153],"plausibility":[156],"identified":[159],"Extensive":[162],"experiments":[163],"conducted":[164],"on":[165],"Fine-AGDDO15":[167],"dataset":[168,217],"real-world":[171],"platform":[173],"demonstrate":[174],"that":[175],"TRACER":[176],"improves":[178],"grounding":[180],"precision":[181],"diverse":[183],"textures":[184],"patterns":[186],"inherent":[187],"objects.":[190],"More":[191],"importantly,":[192],"it":[193],"enhances":[194],"success":[196],"rate":[197],"long-horizon":[199],"tasks,":[200],"effectively":[201],"bridging":[202],"gap":[204],"between":[205],"low-level":[210],"execution.":[212],"source":[214],"code":[215],"will":[218],"be":[219],"made":[220],"publicly":[221],"available":[222],"at":[223],"https://github.com/Dikay1/TRACER.":[224]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-01-30T00:00:00"}