T.-J. Lin, J.-F. Yeh, H.-T. Su, C.-Y. Lin, Y.-T. Chen, and W. H. Hsu, “Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation”, AAAI, vol. 40, no. 22, pp. 18443–18451, Mar. 2026.