Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation

• URL: http://arxiv.org/abs/2511.06240v1
• Date: Sun, 09 Nov 2025 05:52:22 GMT
• Title: Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation
• Authors: Tzu-Jung Lin, Jia-Fong Yeh, Hung-Ting Su, Chung-Yi Lin, Yi-Ting Chen, Winston H. Hsu,
• Abstract summary: Affordance-Guided Coarse-to-Fine Exploration integrates semantic understanding from vision-language models with geometric feasibility.<n>Our system achieves 85% success rate, significantly outperforming classical geometric planners and VLM-based methods.
• Score: 30.86820285729615
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances, resulting in frequent manipulation failures. We propose Affordance-Guided Coarse-to-Fine Exploration, a zero-shot framework for base placement that integrates semantic understanding from vision-language models (VLMs) with geometric feasibility through an iterative optimization process. Our method constructs cross-modal representations, namely Affordance RGB and Obstacle Map+, to align semantics with spatial context. This enables reasoning that extends beyond the egocentric limitations of RGB perception. To ensure interaction is guided by task-relevant affordances, we leverage coarse semantic priors from VLMs to guide the search toward task-relevant regions and refine placements with geometric constraints, thereby reducing the risk of convergence to local optima. Evaluated on five diverse open-vocabulary mobile manipulation tasks, our system achieves an 85% success rate, significantly outperforming classical geometric planners and VLM-based methods. This demonstrates the promise of affordance-aware and multimodal reasoning for generalizable, instruction-conditioned planning in OVMM.

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