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

arXiv:2606.06155 · cs.RO, cs.CV, cs.MM · Submitted 2026-06-04 · Read on arXiv

cs.RO, cs.CV, cs.MM

Submitted: 2026-06-04

Updated: 2026-10-18

Comments: Preprint. Code and project page are available. Code: https://github.com/Skywalker-yqz/AffordanceVLA Project page: https://skywalker-yqz.github.io/AffordanceVLA/

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Data Augmentation — 1× in this paper · explained in 7 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 5 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

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