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arXiv 提交日期: 2026-03-10
📄 Abstract - PanoAffordanceNet: Towards Holistic Affordance Grounding in 360° Indoor Environments

Global perception is essential for embodied agents in 360° spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge this gap, we introduce a novel task: Holistic Affordance Grounding in 360° Indoor Environments. This task faces unique challenges, including severe geometric distortions from Equirectangular Projection (ERP), semantic dispersion, and cross-scale alignment difficulties. We propose PanoAffordanceNet, an end-to-end framework featuring a Distortion-Aware Spectral Modulator (DASM) for latitude-dependent calibration and an Omni-Spherical Densification Head (OSDH) to restore topological continuity from sparse activations. By integrating multi-level constraints comprising pixel-wise, distributional, and region-text contrastive objectives, our framework effectively suppresses semantic drift under low supervision. Furthermore, we construct 360-AGD, the first high-quality panoramic affordance grounding dataset. Extensive experiments demonstrate that PanoAffordanceNet significantly outperforms existing methods, establishing a solid baseline for scene-level perception in embodied intelligence. The source code and benchmark dataset will be made publicly available at this https URL.

顶级标签: computer vision agents systems
详细标签: affordance grounding panoramic perception embodied ai 360° indoor environments scene understanding 或 搜索:

PanoAffordanceNet:面向360度室内环境的整体可供性定位 / PanoAffordanceNet: Towards Holistic Affordance Grounding in 360° Indoor Environments


1️⃣ 一句话总结

这篇论文提出了一个名为PanoAffordanceNet的新框架,它通过创新的技术解决了在360度全景室内环境中精准识别物体功能(即可供性)的难题,并创建了首个高质量全景数据集,为智能体的场景级感知建立了坚实基础。

源自 arXiv: 2603.09760