A4-Agent: ゼロショットアフォーダンス推論のためのエージェントフレームワーク
A4-Agent: An Agentic Framework for Zero-Shot Affordance Reasoning
訓練不要のエージェント型フレームワークで、生成モデル・視覚言語モデル・視覚基盤モデルを組み合わせ、言語指示に基づく物体のアフォーダンス領域をゼロショットで推論する。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Zixin Zhang, Kanghao Chen, Hanqing Wang, Hongfei Zhang, Harold Haodong Chen, Chenfei Liao, Litao Guo, Ying-Cong Chen
分類: cs.CV, cs.RO
原文アブストラクト
Affordance prediction, which identifies interaction regions on objects based on language instructions, is critical for embodied AI. Prevailing end-to-end models couple high-level reasoning and low-level grounding into a single monolithic pipeline and rely on training over annotated datasets, which leads to poor generalization on novel objects and unseen environments. In this paper, we move beyond this paradigm by proposing A4-Agent, a training-free agentic framework that decouples affordance prediction into a three-stage pipeline. Our framework coordinates specialized foundation models at test time: (1) a $\textbf{Dreamer}$ that employs generative models to visualize $\textit{how}$ an interaction would look; (2) a $\textbf{Thinker}$ that utilizes large vision-language models to decide $\textit{what}$ object part to interact with; and (3) a $\textbf{Spotter}$ that orchestrates vision foundation models to precisely locate $\textit{where}$ the interaction area is. By leveraging the complementary strengths of pre-trained models without any task-specific fine-tuning, our zero-shot framework significantly outperforms state-of-the-art supervised methods across multiple benchmarks and demonstrates robust generalization to real-world settings.
