Author

Jihoon Oh

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Preprint Aug 2026

VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances

This work proposes a framework that leverages egocentric human videos with state-of-the-art 3D Structure-from-Motion and hand mesh reconstruction to extract actionable affordances such as visual, grasp, and trajectory affordances that explicitly encode where to interact, how to grasp, and how to move.

Jihoon Oh, Kento Kawaharazuka, Kei Okada · 0 citations