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

[2606.04172] Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation

[Submitted on 2 Jun 2026]

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

View a PDF of the paper titled Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation, by Litao Liu and 11 other authors

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Abstract:Task-conditioned manipulation requires grounding instructions to task-relevant functional parts rather than object categories. This setting is scene-dependent and often one-to-many in cluttered scenes: the same object may afford different interactions across tasks, while a single task may correspond to either one functional region or multiple valid functional regions, depending on the scene layout. Existing affordance datasets and benchmarks remain misaligned with this setting, as they typically focus on grasping or object-level affordances, rely on synthetic scenes, or assume a single instruction-region correspondence. We present Affordance2Action (A2A), a benchmark-centered learning framework for scene-level, task-conditioned part affordance grounding. At its core is A2A-Bench, a manipulation-oriented benchmark that covers both single-region and multi-region instruction correspondences in everyday scenes, with the latter highlighting the ambiguity and diversity of affordance grounding in realistic multi-object environments. To construct it at scale, we build A2A-AffordGen, an agent-assisted annotation pipeline that combines language-model filtering, interactive part segmentation, instance-level mask-out refinement, task-reasoning instruction generation, and human verification. A2A-Bench's supervision further supports diverse downstream applications, with real-time affordance grounding and affordance-conditioned manipulation policies as two representative examples. Experiments show that A2A exposes substantial gaps in generic segmentation, VLM-based grounding, and affordance distillation baselines, while improving task-level localization and providing useful spatial priors for downstream manipulation. All datasets and code will be publicly released to promote open research.

Comments: 23 pages

Subjects:

Robotics (cs.RO)

Cite as: arXiv:2606.04172 [cs.RO]

(or arXiv:2606.04172v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.04172

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Litao Liu [view email] [v1] Tue, 2 Jun 2026 19:36:13 UTC (3,906 KB)

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