arXiv (OAI Expanded)
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Part Grounding, Not Action Knowledge: Locating the Bottleneck in VLM Affordance Prediction
Benchmarks agree that vision-language models reason poorly about low-level manipulation, but an aggregate accuracy score does not say which step fails. We separate two steps that affordance questions conflate: identifying which part of an object to act on, and knowing what action that part requires.
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