AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation
AffordanceWAM is introduced, an affordance-aware generative World Action Model that represents object-centric spatiotemporal affordance through Scalar Affordance and Affordance Heatmap, within the generated future World, and supports affordance as an effective interface for both vision-language-action learning and huma...
Jia-Di You, Qi-Ze Yu, Yue Chen et al.
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