UniAfford: Token-Routed Multitask Learning for Generalizable 2D-3D Affordance Perception

Yuhao Liu; Yiming Zhong; Hanqing Wang; Shaocheng Yan; Yuhang Zhang; Wenzhou Lyu; Ziyang Ding; Wei Zhang; Xue Zhao; Jin Pan; Yuexin Ma; Xinge Zhu

arXiv · 2609.37264

UniAfford: Token-Routed Multitask Learning for Generalizable 2D-3D Affordance Perception

Yuhao Liu·Yiming Zhong·Hanqing Wang·Shaocheng Yan·Yuhang Zhang·Wenzhou Lyu·Ziyang Ding·Wei Zhang·Xue Zhao·Jin Pan·Yuexin Ma·Xinge Zhu

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Abstract

Affordance perception aims to localize actionable regions supporting embodied interaction, yet 2D and 3D affordance grounding have evolved as separate problems, with different task definitions, supervision formats, datasets, and evaluation protocols. This fragmentation limits the learning of transferable object-affordance semantics across visual and geometric spaces. We propose Token Router for Tasks, a multitask training paradigm for MLLM-based systems that routes contextual hidden states to task-specific branches without requiring the language head to generate predefined markers. Routed states are supervised directly by branch-specific objectives, enabling dense prediction losses to shape shared MLLM representations. We instantiate this paradigm as UniAfford, a unified framework for generalizable 2D-3D affordance perception, together with UniAfford-Data, a dataset integrating pixel-level 2D annotations, point-level 3D annotations, and language instructions under a shared object-affordance taxonomy, supporting heterogeneous supervision through semantic-level 2D-3D pairing. UniAfford adopts an MLLM as a shared semantic hub and a modality-aware token router to produce image- and point-cloud-affordance queries. These queries respectively condition a SAM-style pixel decoder and a SONATA-based point decoder, enabling flexible 2D, 3D, and joint affordance inference from image-only, point-cloud-only, or paired multimodal inputs. Experiments demonstrate strong zero-shot generalization across 2D and 3D affordance benchmarks without target-specific fine-tuning, alongside state-of-the-art branch-wise performance under modality-isolated protocols. Ablations validate token routing, joint 2D-3D supervision, and decoder coupling, while language-head diagnostics show that routed latent states carry meaningful object-affordance semantics. Project page: https://4dvlab.github.io/UniAfford

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Yuhao Liu, Yiming Zhong, Hanqing Wang, Shaocheng Yan, Yuhang Zhang, Wenzhou Lyu, Ziyang Ding, Wei Zhang, Xue Zhao, Jin Pan, Yuexin Ma, Xinge Zhu. 2026-09-29. UniAfford: Token-Routed Multitask Learning for Generalizable 2D-3D Affordance Perception. https://arxiv.org/abs/2609.37264

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