FUSE: Active Functional Affordance Grounding through Adaptive Semantic-Geometric Evidence Acquisition
Embodied agents must often identify and interact with objects based on their function rather than their identity, requiring them to actively acquire observations that reveal discriminative functional evidence. Existing affordance grounding methods operate from fixed viewpoints and lack mechanisms for deciding where to look when functional cues are occluded or incomplete. We introduce Active Functional Affordance Grounding, a new task in which an agent sequentially explores a scene to identify and spatially ground an object satisfying a functional query. To address this problem, we propose FUSE, an adaptive semantic-geometric evidence acquisition framework that combines explicit uncertaint...
| Authors | Zhou Chen, Sathyanarayanan N. Aakur |
|---|---|
| Primary category | cs.RO |
| Published | 13 August 2026 |
| Last updated at source | 13 August 2026 |
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