{"paper":{"title":"What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.RO"],"primary_cat":"cs.LG","authors_text":"Alvaro Velasquez, Christian Ellis, Neel P. Bhatt, Nishant Gadde, Rohan Siva, Seoyoung Lee, Ufuk Topcu, Yunhao Yang, Zhangyang Wang","submitted_at":"2026-06-04T00:26:04Z","abstract_excerpt":"Existing robot planning systems rely on appearance-based reasoning, where visual observations are encoded into latent spaces organized around object appearances (e.g., recognizing a \"cart\" based on how it looks). However, planning requires reasoning about task-relevant functionalities of objects (e.g., whether an object is \"movable\"), which appearance-based latent spaces do not capture. As a result, existing approaches struggle to generalize to novel robot-object interactions. We address this limited generalizability through affordance reasoning, enabling planning based on task-relevant object"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05533","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.05533/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}