VoxAfford fuses multi-scale voxel features into MLLM output tokens using cross-attention with a learned compatibility gate to achieve SOTA open-vocabulary 3D affordance detection with ~8% mIoU gain and zero-shot robot transfer.
Affordancenet: An end-to-end deep learning approach for object affordance detection
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2026 2verdicts
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CLASP achieves 87% success in open-vocabulary desktop grasping via dual-pathway perception, asynchronous closed-loop evaluation, and automated multimodal data synthesis.
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CLASP: Closed-loop Asynchronous Spatial Perception for Open-vocabulary Desktop Object Grasping
CLASP achieves 87% success in open-vocabulary desktop grasping via dual-pathway perception, asynchronous closed-loop evaluation, and automated multimodal data synthesis.