# GREAT: Geometry-Intention Collaborative Inference for Open-Vocabulary 3D Object Affordance Grounding

arXiv: https://arxiv.org/abs/2411.19626 · HTML: https://mlsanity.com/paper/2411.19626/

## Key facts

- Cited by 28 papers in the map (data through 14 Oct 2026).
- Builds on 49 of its 71 references that are in the map.
- First posted on arXiv 29 Nov 2024.

## Builds on (most cited first, 30 of 49)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentation](https://mlsanity.com/paper/1606.04797/) (2016)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [How Far Are We to GPT-4V? Closing the Gap to Commercial Multimodal Models with Open-Source Suites](https://mlsanity.com/paper/2404.16821/) (2024)
- [Automatic Chain of Thought Prompting in Large Language Models](https://mlsanity.com/paper/2210.03493/) (2022)
- [PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understanding](https://mlsanity.com/paper/1812.02713/) (2018)
- [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://mlsanity.com/paper/2409.01652/) (2024)
- [Diffusion-based Generation, Optimization, and Planning in 3D Scenes](https://mlsanity.com/paper/2301.06015/) (2023)
- [ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation](https://mlsanity.com/paper/2312.16217/) (2023)
- [VisionLLM v2: An End-to-End Generalist Multimodal Large Language Model for Hundreds of Vision-Language Tasks](https://mlsanity.com/paper/2406.08394/) (2024)
- [SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understanding](https://mlsanity.com/paper/2401.09340/) (2024)
- [3D AffordanceNet: A Benchmark for Visual Object Affordance Understanding](https://mlsanity.com/paper/2103.16397/) (2021)
- [Learning Affordance Grounding from Exocentric Images](https://mlsanity.com/paper/2203.09905/) (2022)
- [Benchmarking Robustness of 3D Point Cloud Recognition Against Common Corruptions](https://mlsanity.com/paper/2201.12296/) (2022)
- [LOCATE: Localize and Transfer Object Parts for Weakly Supervised Affordance Grounding](https://mlsanity.com/paper/2303.09665/) (2023)
- [Grounding 3D Object Affordance from 2D Interactions in Images](https://mlsanity.com/paper/2303.10437/) (2023)
- [RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation](https://mlsanity.com/paper/2407.04689/) (2024)
- [AffordanceLLM: Grounding Affordance from Vision Language Models](https://mlsanity.com/paper/2401.06341/) (2024)
- [LEMON: Learning 3D Human-Object Interaction Relation from 2D Images](https://mlsanity.com/paper/2312.08963/) (2023)
- [O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning](https://mlsanity.com/paper/2106.15087/) (2021)
- [One-Shot Open Affordance Learning with Foundation Models](https://mlsanity.com/paper/2311.17776/) (2023)
- [Boosting Logical Reasoning in Large Language Models through a New Framework: The Graph of Thought](https://mlsanity.com/paper/2308.08614/) (2023)
- [One-Shot Object Affordance Detection in the Wild](https://mlsanity.com/paper/2108.03658/) (2021)

## Built on by (most cited first, 28 of 28)

- [Affordance-R1: Reinforcement Learning for Generalizable Affordance Reasoning in Multimodal Large Language Model](https://mlsanity.com/paper/2508.06206/) (2025)
- [SeqAfford: Sequential 3D Affordance Reasoning via Multimodal Large Language Model](https://mlsanity.com/paper/2412.01550/) (2024)
- [HERO: Human Reaction Generation from Videos](https://mlsanity.com/paper/2503.08270/) (2025)
- [TOUCH: Text-guided Controllable Generation of Free-Form Hand-Object Interactions](https://mlsanity.com/paper/2510.14874/) (2025)
- [Digital Twin Generation from Visual Data: A Survey](https://mlsanity.com/paper/2504.13159/) (2025)
- [Diffusion Models are Open-World Affordance Learners: Leveraging Generative Priors for 3D Affordance Learning](https://mlsanity.com/paper/2508.01651/) (2025)
- [Task-Aware 3D Affordance Segmentation via 2D Guidance and Geometric Refinement](https://mlsanity.com/paper/2511.11702/) (2025)
- [A4-Agent: An Agentic Framework for Zero-Shot Affordance Reasoning](https://mlsanity.com/paper/2512.14442/) (2025)
- [Affordance Agent Harness: Verification-Gated Skill Orchestration](https://mlsanity.com/paper/2605.00663/) (2026)
- [Back on Track: Aligning Rewards and States for Reasoning in Diffusion Large Language Models](https://mlsanity.com/paper/2606.08501/) (2026)
- [Gloria: Consistent Character Video Generation via Content Anchors](https://mlsanity.com/paper/2603.29931/) (2026)
- [Unlocking 3D Affordance Segmentation with 2D Semantic Knowledge](https://mlsanity.com/paper/2510.08316/) (2025)
- [The Semantic Lifecycle in Embodied AI: Acquisition, Representation and Storage via Foundation Models](https://mlsanity.com/paper/2601.08876/) (2026)
- [VideoAfford: Grounding 3D Affordance from Human-Object-Interaction Videos via Multimodal Large Language Model](https://mlsanity.com/paper/2602.09638/) (2026)
- [VAGNet: Grounding 3D Affordance from Human-Object Interactions in Videos](https://mlsanity.com/paper/2602.20608/) (2026)
- [HAMMER: Harnessing MLLM via Cross-Modal Integration for Intention-Driven 3D Affordance Grounding](https://mlsanity.com/paper/2603.02329/) (2026)
- [CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objects](https://mlsanity.com/paper/2604.02060/) (2026)
- [LogiShot: Logically Coherent Cross-Shot Video Generation](https://mlsanity.com/paper/2608.08820/) (2026)
- [YOLOA: Real-Time Affordance Detection via LLM Adapter](https://mlsanity.com/paper/2512.03418/) (2025)
- [FSAG: Enhancing Human-to-Dexterous-Hand Finger-Specific Affordance Grounding via Diffusion Models](https://mlsanity.com/paper/2601.08246/) (2026)
- [Int3DNet: Scene-Motion Cross Attention Network for 3D Intention Prediction in Mixed Reality](https://mlsanity.com/paper/2603.13355/) (2026)
- [AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers](https://mlsanity.com/paper/2603.27970/) (2026)
- [VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection](https://mlsanity.com/paper/2605.01365/) (2026)
- [AFUN: Towards an Affordance Foundation Model for Functionality Understanding](https://mlsanity.com/paper/2606.02551/) (2026)
- [Zero-shot 2D Grounding with Novel Affordance Types](https://mlsanity.com/paper/2608.08929/) (2026)
- [UniAfford: Token-Routed Multitask Learning for Generalizable 2D-3D Affordance Perception](https://mlsanity.com/paper/2609.37264/) (2026)
- [Task-Adaptive Grounded 3D-Programmers Using 2D VLMs](https://mlsanity.com/paper/2610.02021/) (2026)
- [MaskSense: Confronting the Visual Exploration Trap in Masked Image Generation](https://mlsanity.com/paper/2610.17009/) (2026)

## Abstract (arXiv)

Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational changes. Existing methods focus on combining images or languages that depict interactions with 3D geometries to introduce external interaction priors. However, they are still vulnerable to a limited semantic space by failing to leverage implied invariant geometries and potential interaction intentions. Normally, humans address complex tasks through multi-step reasoning and respond to diverse situations by leveraging associative and analogical thinking. In light of this, we propose GREAT (GeometRy-intEntion collAboraTive inference) for Open-Vocabulary 3D Object Affordance Grounding, a novel framework that mines the object invariant geometry attributes and performs analogically reason in potential interaction scenarios to form affordance knowledge, fully combining the knowledge with both geometries and visual contents to ground 3D object affordance. Besides, we introduce the Point Image Affordance Dataset v2 (PIADv2), the largest 3D object affordance dataset at present to support the task. Extensive experiments demonstrate the effectiveness and superiority of GREAT. The code and dataset are available at https://yawen-shao.github.io/GREAT/.