CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objects

ArXi:2604.02060v1 Announce Type: new When told to "cut the apple," a robot must choose the knife over nearby scissors, despite both objects affording the same cutting function. In real-world scenes, multiple objects may share identical affordances, yet only one is appropriate under the given task context. We call such cases confusing pairs. However, existing 3D affordance methods largely sidestep this challenge by evaluating isolated single objects, often with explicit category names provided in the query.