AI RESEARCH
VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection
arXiv CS.CV
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ArXi:2605.01365v1 Announce Type: new Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded into segmentation masks. However, these tokens are produced through autoregressive generation, which models sequential dependencies rather than spatial neighborhood relations, leaving them semantically rich but spatially impoverished for 3D localization.