ADAPT augments planners with affordance reasoning to raise task success in environments with unspecified and time-varying object affordances, and a LoRA-finetuned VLM backend beats GPT-4o on the new DynAfford benchmark.
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ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints
ADAPT augments planners with affordance reasoning to raise task success in environments with unspecified and time-varying object affordances, and a LoRA-finetuned VLM backend beats GPT-4o on the new DynAfford benchmark.