{"paper":{"title":"AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.MM"],"primary_cat":"cs.RO","authors_text":"Bowen Ping, Jiadi You, Jiaqi Liang, Junwei Liang, Minghong Cai, Qize Yu, Ruihai Wu, Yang Tian, Yinchuan Li, Yingcong Chen, Yue Chen, Yuran Wang, Zeying Gong","submitted_at":"2026-06-04T13:28:51Z","abstract_excerpt":"Vision-Language-Action (VLA) models leverage the rich world knowledge of pretrained vision-language models (VLMs) to enable instruction-following robotic manipulation. However, the structural mismatch between VLM semantic spaces and embodied control policies often hinders the learning of precise perception--action mappings. To address this challenge, we propose \\textbf{AffordanceVLA}, a unified framework that introduces structured affordance forecasting as a task-oriented intermediate representation to establish a more precise and robust perception--action mapping. Specifically, we progressive"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.06155","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/2606.06155/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"}