arxivcs.CVcs.AIcs.RO2026-07-03
Token-Based Affordance Grounding with Large Vision-Language Models
Seung Il Lee, Qinqian Lei, Daguang Xu, Dong Yang, Robby T. Tan, Yixin Chen, et al.
Affordance grounding aims to localize image regions that support a specific action, serving as a core capability for physical intelligence and embodied perception. Previous studies have primarily relied on weakly supervised learning with action labels from exocentric images. Howe…