Xu, Wenting, Viorela Ila, Luping Zhou, and Craig T. Jin. 2025. “TB-HSU: Hierarchical 3D Scene Understanding With Contextual Affordances”. Proceedings of the AAAI Conference on Artificial Intelligence 39 (9):8960-68. https://doi.org/10.1609/aaai.v39i9.32969.