Paper

AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding

arXiv:2606.06155v1 Announce Type: new Abstract: 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 percept…

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