Affordance Detection
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Benchmarks
3D AffordanceNet
Most implemented
Phrase-Based Affordance Detection via Cyclic Bilateral Interaction
One-Shot Affordance Detection
Affordance Transfer Learning for Human-Object Interaction Detection
AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection
Multi-label affordance mapping from egocentric vision
Open-Vocabulary Affordance Detection in 3D Point Clouds
Papers
AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation
Simulation enables scalable robot data collection, but raw 3D assets provide only geometry, lacking the semantic, interactive, and physical knowledge needed to specify where and how robots should act. In this work, we pr…
Affordance DetectionRobot ManipulationVoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection
Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output toke…
Affordance DetectionPoint CloudsYOLOA: Real-Time Affordance Detection via LLM Adapter
Affordance detection aims to jointly address the fundamental "what-where-how" challenge in embodied AI by understanding "what" an object is, "where" the object is located, and "how" it can be used. However, most affordan…
Affordance DetectionObject Detection3D Affordance Keypoint Detection for Robotic Manipulation
This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information…
Semantic SegmentationAffordance DetectionKeypoint DetectionTask-Aware 3D Affordance Segmentation via 2D Guidance and Geometric Refinement
Understanding 3D scene-level affordances from natural language instructions is essential for enabling embodied agents to interact meaningfully in complex environments. However, this task remains challenging due to the ne…
Affordance DetectionPoint CloudsHanging Around: Cognitive Inspired Reasoning for Reactive Robotics
Situationally-aware artificial agents operating with competence in natural environments face several challenges: spatial awareness, object affordance detection, dynamic changes and unpredictability. A critical challenge …
Affordance DetectionObject Recognition