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README.md

@@ -40,10 +40,13 @@ Input format — see `examples/reconstruction.py` in the repo.
 ## Affordance grounding
 
 ```python
-from affostruction.pipeline import AffordancePipeline
+from affostruction import AffostructionPipeline
 
-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/.
+pipeline = AffostructionPipeline.from_pretrained("chrockey/Affostruction").cuda()
+outputs = pipeline.run(input_dict, queries=["grasp"])
+mesh   = outputs["mesh"][0]
+coords = outputs["coords"]            # (N, 4) sparse voxel coords
+probs  = outputs["affordance"][0]["probs"]   # (N,) per-voxel heatmap
 ```
+
+See ``examples/affordance.py`` in the repo for an end-to-end smoke test.

affordance/config.json

@@ -20,5 +20,7 @@
       "use_fp16": true
     }
   },
-  "text_cond_model": "openai/clip-vit-large-patch14"
+  "text_cond_model": "openai/clip-vit-large-patch14",
+  "sigma_min": 1e-05,
+  "noise_scale": 5.0
 }