AFFORDMEM improves AP50 by 3.23-3.7 points on SceneFun3D splits by using a reusable cross-scene affordance memory bank and in-scene spatial memory to guide VLMs toward actionable 3D regions.
LERF: Language embedded radiance fields
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Grounding by Remembering: Cross-Scene and In-Scene Memory for 3D Functional Affordances
AFFORDMEM improves AP50 by 3.23-3.7 points on SceneFun3D splits by using a reusable cross-scene affordance memory bank and in-scene spatial memory to guide VLMs toward actionable 3D regions.