Affordances

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3 papers in the last four weeks, down 25% on the four weeks before. 0.0% of all new papers.

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  1. Are Frontier VLM Agents Ready to Be Robot Generalists? An Empirical Study with the Embodied Agent Arena

    Oct 1, 2026Haojian Huang, Pukun Zhao, Zexi Li +7AffordancesEmpirical Study

    HKUST (Guangzhou) · Knowin AI · The Chinese University of Hong Kong

  2. ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning

    Sep 30, 2026Chenyangguang Zhang, Malgorzata Gwiazda, Guanlong Jiao +5Spatio-Temporal Scene GraphsClassical Planning

    ETH Zurich · Technical University of Munich · University of British Columbia +3

  3. EgoTools: Towards Tool-Centric Reasoning in Real-World Egocentric Videos

    Sep 30, 2026Shulin Tian, Junsu Kim, Shuai Liu +17Egocentric VideoEgocentric Vision

    S-Lab, Nanyang Technological University · A*STAR · KAIST +4

  4. AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation

    Sep 16, 2026Jiadi You, Qize Yu, Yue Chen +11Efficient World-Action ModelAffordances

    The University of Hong Kong · The Hong Kong University of Science and Technology (Guangzhou) · Peking University +3

  5. From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction

    Sep 16, 2026Zheng Li, Liang Zhu, Junzhe Wang +13Robotic Data AcquisitionRobot-Free Demonstrations

    The Hong Kong University of Science and Technology (Guangzhou). · The University of Hong Kong. · Tsinghua University.

  6. CoLT-Drive: Counterfactual Long-Tail Benchmarking and Knowledge-Preserving Adaptation for Driving Affordance Prediction

    Aug 31, 2026Zhengxu Tang, Guofeng Cui, Ziyu Gong +8DrivesParameter-Efficient Adaptation

    NVIDIA

  7. FUSE: Active Functional Affordance Grounding through Adaptive Semantic-Geometric Evidence Acquisition

    Aug 13, 2026Zhou Chen, Sathyanarayanan N. AakurViewpoint-Dependent Active PerceptionAffordances

    CSSE Department Auburn University, Auburn, AL, 36849

  8. ThinkAfford: Affordance-Centric Reasoning for Fine-Grained 3D Grounding in Cluttered Scenes

    Aug 11, 2026Xinrui Lin, Sha Zhang, Shumin Wang +33D Visual GroundingAffordances

    University of Science and Technology of China, Hefei, China · The Chinese University of Hong Kong, Hong Kong SAR, China

  9. Zero-shot 2D Grounding with Novel Affordance Types

    Aug 9, 2026Haomeng Zhang, Raymond A. YehAffordancesSemantic-Affordance Inference

    Department of Computer Science, Purdue University

  10. Searching for Sound-Meaning Collisions: Graph-Based Affordance Retrieval and Multi-Evaluator Ranking for Pun Translation at CLEF 2026 JOKER Task 2

    Aug 5, 2026Russell Taylor, Adam Brikman, Prateek AwateTranslation QualityLanguage Pairs

    Georgia Institute of Technology, North Ave NW, Atlanta, GA 30332

  11. Assistant Placement Aria: A Benchmark for Egocentric Placement Assistance

    Aug 1, 2026Amir Belder, Gonçalo Dias Pais, Refael Vivanti +5AffordancesRobotic Systems

    Reality Labs, Meta inc. and Technion, institute of technology · Sensei, Lisbon, Portugal · Reality Labs, Meta inc. +1

  12. SpatialAfford: Teaching Compact VLMs Where to Look and Where to Ground for Affordance

    Aug 1, 2026Yufei Zhang, Chenlu Zhan, Donghui Sun +2AffordancesSpatial Reasoning

    Zhejiang University · Vivo Mobile Communication Co., Ltd

  13. Lightweight Neural Networks for Affordance Segmentation: Enhancement of the Decoder Module

    Jul 31, 2026Simone Lugani, Edoardo Ragusa, Rodolfo Zunino +1AffordancesMobilenetv2

    Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture (DITEN), University of Genoa, Genoa, Italy

  14. Filling the Pareto-Optimal Front for Affordance Segmentation on Embedded Devices Using RGB-D Cameras

    Jul 30, 2026Edoardo Ragusa, Giovanni Paolo Canuti, Simone Lugani +2Rgb-Depth CamerasRobotic Perception

    DITEN, University of Genoa, Genova, Italy

  15. FloAff-Kitchen: Bridging Navigation and Manipulation via Canonical and Progressive Floor Affordance Learning

    Jul 27, 2026Ping Zhong, Manling Teng, Tao Wu +3AffordancesFloor Plan Generation

    School of Computer Science and Engineering, Central South University

  16. Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion

    Jul 13, 2026Solvi Arnold, Rin Karashima, Tadashi Adachi +2AffordancesRobot Systems

    SA is at NICT, Japan. Work performed while at Shinshu University, Japan. · Work performed while at Shinshu University, Japan. · RK, TA, TM are at EPSON Avasys, Japan. +1

  17. Agent-Exploitation Affordances: From Basic to Complex Representation Patterns

    Jul 8, 2026Bastien Dussard, Aurélie Clodic, Guillaume SarthouAffordances

    LAAS-RIS, LAAS · LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France · LAAS-IDEA, LAAS-RIS +1

  18. Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping

    Jun 30, 2026Tao Chen, Lizheng Liu, Jiaxu Wang +4Robotic GraspingRobotic Manipulation

    Fudan University, Shanghai, China · Kean University

  19. GROW2^2: Grounding Which and Where for Robot Tool Use

    Jun 29, 2026Yuhong Deng, Yuyao Liu, David HsuAffordancesRobotic Systems

    1National University of Singapore · 2Massachusetts Institute of Technology

  20. Trimming the Long-Tail of Visual World Modeling Evaluation

    Jun 23, 2026Bingxuan Li, Yining Hong, Cheng Qian +6Video World ModelsWorld

    University of Illinois Urbana-Champaign · Stanford University · Columbia University

  21. A scalar per patch from pre-trained ViTs enables fast moving navigation in the real world

    Jun 19, 2026Steeven Janny, Leonid Antsfeld, Christian WolfObject Goal NavigationSelf-Supervised Vision Transformers

    NaverLabs Europe, Grenoble, France

  22. Repeated Shared Access Enables Grokking, but Edit Propagation Depends on an Addressable Memory

    Jun 17, 2026Yanan NiuPeak MemoryShared Control

    Kuaishou Technology

  23. GCNGrasp-VP: Affordance-Guided View Planning for Efficient Task-Oriented Grasping

    Jun 17, 2026Zanjia Tong, Wenlong Dong, Chengjie Zhang +1Robotic GraspingViewpoint-Dependent Active Perception

    Shenzhen Key Laboratory of Robotics and Computer Vision, Southern University of Science and Technology, Shenzhen, China.

  24. Abstention-Aware Personalized Object Rearrangement via Uncertainty-Guided LLM Assistance

    Jun 15, 2026Sam Collin, Ali AyubConceptual ReorganizationAffordances

    Concordia University, Montreal, Quebec H3G 1M8, Canada

  25. 3D Scene Graphs: Open Challenges and Future Directions

    Jun 15, 2026Dennis Rotondi, Francesco Argenziano, Sebastian Koch +103D Scene GraphsScene Understanding

    University of Stuttgart · IMPRS-IS · Sapienza University of Rome +7

  26. AFFORDANCE20Q: Evaluating Affordance Reasoning from Physical Properties

    Jun 12, 2026Yifan Jiang, Meige Yang, Zitong Li +1Affordances

    Information Sciences Institute, University of Southern California · University of Southern California

  27. Architect-Ant: Editable Automatic Furnishing of Architectural Floor Plans

    Jun 9, 2026Fedor Rodionov, Aleksandar Cvejic, Michael Birsak +2Floor Plan GenerationAffordances

    King Abdullah University of Science and Technology (KAUST), Saudi Arabia · Miami University, United States of America

  28. Revisiting Articulated Parts Perception in Robot Manipulation

    Jun 6, 2026Xiaoqian Wu, Yejie Guo, Xiaoyang Chen +3Robotic ManipulationArticulated Objects

    Shanghai Jiao Tong University

  29. Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation

    Jun 5, 2026Tuba Girgin, Jose Castelblanco, Gabriel Rodriguez +2Hierarchical Reinforcement LearningAffordances

    Department of Aerospace Engineering, Embry-Riddle Aeronautical University, Daytona Beach, FL, USA. · Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.

  30. AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding

    Jun 4, 2026Qize Yu, Jiadi You, Yuran Wang +10Robotic ManipulationAffordances

    Peking University · Hong Kong University of Science and Technology (Guangzhou) · The Chinese University of Hong Kong +1

  31. What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning

    Jun 4, 2026Rohan Siva, Neel P. Bhatt, Yunhao Yang +6Semantic-Affordance InferenceAffordances

    1The University of Texas at Austin · 2Neurosymbolic Intelligence · University of Colorado Boulder

  32. Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation

    Jun 2, 2026Litao Liu, Yifan Han, Pengfei Yi +9AffordancesReal-World Manipulation Tasks

    Department of Computer Science, Rutgers University-New Brunswick · The Hong Kong University of Science and Technology (GZ) · Shanghai AI Laboratory

  33. AFUN: Towards an Affordance Foundation Model for Functionality Understanding

    Jun 1, 2026Zhaoning Wang, Yi Zhong, Jiawei Fu +2AffordancesRobotic Manipulation

    University of Michigan · University of California, San Diego · NVIDIA

  34. Embodied3DBench: Benchmarking Low-Level Embodied Spatial Intelligence of Vision Language Models

    May 27, 2026Jiyao Zhang, Mingxu Zhang, Yitong Peng +83D Spatial ReasoningStable Spatial Understanding

  35. Ontology-Guided Reasoning for Affordance-Based Explanations of Robot Navigation

    May 27, 2026Amar Halilovic, Vahidin Hasic, Senka KrivicSemantic-Affordance InferenceRobot Navigation

    Institute of Artificial Intelligence, Ulm University, 89081 Ulm, Germany · Faculty of Electrical Engineering, University of Sarajevo, 71000 Sarajevo, BiH

  36. Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance

    May 22, 2026Runze Wang, Yuqian Fu, Yu Li +7AffordancesRobotic Manipulation

    1Fudan University · 2KAUST · 3SJTU +1

  37. Discoverable Agent Knowledge -- A Formal Framework for Agentic KG Affordances (Extended Version)

    May 18, 2026Terry R. Payne, Valentina Tamma, Enrico DagaAgentic DiscoveryOntology

    School of Computer Science and Informatics, University of Liverpool, UK · Open University: Milton Keynes, Milton Keynes, UK

  38. SceneParser: Hierarchical Scene Parsing for Visual Semantics Understanding

    May 14, 2026Pengxin Xu, Xincheng Lin, Luping Xiao +5Scene ReasoningAffordances

    Harbin Institute of Technology, Shenzhen · Zhongguancun Academy · Huazhong University of Science and Technology +4

  39. StateVLM: A State-Aware Vision-Language Model for Robotic Affordance Reasoning

    May 5, 2026Xiaowen Sun, Matthias Kerzel, Mengdi Li +3Recent Vision-Language ModelsSemantic-Affordance Inference

    Department of Informatics, University of Hamburg, Germany · King Abdullah University of Science and Technology, Saudi Arabia

  40. Uncertainty Estimation in Instance Segmentation of Affordances via Bayesian Visual Transformers

    May 5, 2026Lorenzo Mur-Labadia, Ruben Martinez-Cantina, Jose J. GuerreroUncertainty-Aware ClassificationAffordances

    aI3A, Universidad de Zaragoza, Zaragoza, 50018, Spain

  41. Knowledge Affordances for Hybrid Human-AI Information Seeking

    Apr 30, 2026Irene CelinoSemantic-Affordance InferenceHuman-Ai Collaboration

    Cefriel – viale Sarca 226, 20126 Milano, Italy

  42. BridgeACT: Bridging Human Demonstrations to Robot Actions via Unified Tool-Target Affordances

    Apr 25, 2026Yifan Han, Jianxiang Liu, Haoyu Zhang +3Real-World Manipulation TasksAffordances

    Institute of Automation, Chinese Academy of Sciences. · School of Artificial Intelligence, Shanghai Jiao Tong University. · 3South China University of Technology.

  43. Assessing VLM-Driven Semantic-Affordance Inference for Non-Humanoid Robot Morphologies

    Apr 21, 2026Jess Jones, Raul Santos-Rodriguez, Sabine HauertSemantic-Affordance InferenceAffordances

    Bristol Robotics Laboratory, University of Bristol Bristol, United Kingdom · University of Bristol Bristol, United Kingdom

  44. Affogato: Open-Vocabulary Affordance Grounding with Automated Data Generation at Scale

    Jun 13, 2025Junha Lee, Eunha Park, Chunghyun Park +2AffordancesMultimodal Dataset

    Pohang University of Science and Engineering (POSTECH) · SqueezeBits · RLWLRD

  45. WaLLM -- Understanding Use and Engagement with a General-Purpose LLM on WhatsApp

    May 13, 2025Hiba Eltigani, Rukhshan Haroon, Asli Kocak +3ChatbotsMulti-Turn Large Language Model Conversations

    Tufts University, USA, Medford