Affordance Agent Harness: Verification-Gated Skill Orchestration
Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems therefore combine multiple skills (e.g., detection, segmentation, interaction-imagination), yet most orchestrate them with fixed pipelines that are poorly matched to per-instance difficulty, offer limited targeted recovery from intermediate errors, and fail to reuse experience from recurring objects. These failures expose a systems problem: test-time grounding must acquire the right evidence, decide whether that evidence is reliable enough to commit, and do so under bounded inference co...
| Authors | Haojian Huang, Jiahao Shi, Yinchuan Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 May 2026 |
| Last updated at source | 8 May 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.