Affordance Agent Harness: Verification-Gated Skill Orchestration

ArXi:2605.00663v1 Announce Type: cross Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems. therefore. combine multiple skills (e.g., detection, segmentation, interaction-imagination), yet most orchestrate them with fixed pipelines that are poorly matched to per-instance difficulty, offer limited targeted recovery from intermediate errors, and fail to reuse experience from recurring objects.