@article{affordvlaactionalignedvisualplanningviai,
  title = {Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance},
  author = {Runze Wang and Yuqian Fu and Yu Li and Tao Lin and Tianwen Qian and Mohamed Elhoseiny and Bo Zhao and Yanwei Fu and Yu-Gang Jiang and Xiangyang Xue},
  year = {2026},
  eprint = {2605.24203},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.24203},
}