Affostruction

Affostruction: 3D Affordance Grounding with Generative Reconstruction — CVPR 2026, Denver.

Chunghyun Park¹, Seunghyeon Lee¹, Minsu Cho^1,2

¹POSTECH    ²RLWRLD

• Paper: https://arxiv.org/abs/2601.09211
• Project page: https://chrockey.github.io/Affostruction/
• Code: https://github.com/chrockey/Affostruction

Pretrained checkpoints for the public release.

Reconstruction

from affostruction import ReconstructionPipeline

pipeline = ReconstructionPipeline.from_pretrained("chrockey/Affostruction").cuda()
outputs = pipeline.run(input_dict)
mesh = outputs["mesh"][0]
gaussian = outputs["gaussian"][0]

Input format — see examples/reconstruction.py in the repo.

Affordance grounding

from affostruction.pipeline import AffordancePipeline

pipeline = AffordancePipeline.from_pretrained("chrockey/Affostruction")
# NOTE: pipeline.run() is not yet wired in the release package.
# Downloads + parses the checkpoint; full inference requires ElasticSLatFlowModel
# to be registered in affostruction/models/.