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Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in cluttered scenes. Active perception via next-best-view (NBV) planning can resolve such occlusions by moving the camera for more informative observations. However, existing NBV methods typically optimize viewpoints for grasping the target object as a whole without distinguishing which part is task-relevant. A naive adaptation, fully scanning the target object before predicting the affordance, wastes most of the viewpoi

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