AffordanceGrasp-R1:Leveraging Reasoning-Based Affordance Segmentation with Reinforcement Learning for Robotic Grasping

Dingyi Zhou, Mu He, Zhuowei Fang +4

We introduce AffordanceGrasp-R1, a reasoning-driven affordance segmentation framework for robotic grasping that combines a chain-of-thought (CoT) cold-start strategy with reinforce…