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AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection

arXiv 1709.07326 ↗First posted 21 Sep 2017cs.CV cs.ROcited by 126

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Abstract (arXiv)

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and an affordance detection branch to assign each pixel in the object to its most probable affordance label. The proposed framework employs three key components for effectively handling the multiclass problem in the affordance mask: a sequence of deconvolutional layers, a robust resizing strategy, and a multi-task loss function. The experimental results on the public datasets show that our AffordanceNet outperforms recent state-of-the-art methods by a fair margin, while its end-to-end architecture allows the inference at the speed of 150ms per image. This makes our AffordanceNet well suitable for real-time robotic applications. Furthermore, we demonstrate the effectiveness of AffordanceNet in different testing environments and in real robotic applications. The source code is available at https://github.com/nqanh/affordance-net

Key facts. Cited by 126 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Sep 2017.

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Citing papers per year: 2021: 20; 2022: 17; 2023: 17; 2024: 20; 2025: 29; 2026: 23.

126 papers.

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  1. 2024RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Roboticscited by 242
  2. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  3. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 129
  4. 2022Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videoscited by 110
  5. 2022Grounding Language with Visual Affordances over Unstructured Datacited by 101
  6. 20213D AffordanceNet: A Benchmark for Visual Object Affordance Understandingcited by 100
  7. 2022DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Videocited by 83
  8. 2022Learning Affordance Grounding from Exocentric Imagescited by 82
  9. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 78
  10. 2021Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Taskscited by 75
  11. 2023LOCATE: Localize and Transfer Object Parts for Weakly Supervised Affordance Groundingcited by 64
  12. 2023Grounding 3D Object Affordance from 2D Interactions in Imagescited by 62
38 more
  1. 2022End-to-End Affordance Learning for Robotic Manipulationcited by 54
  2. 2024Affordance-based Robot Manipulation with Flow Matchingcited by 54
  3. 2025Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spacescited by 53
  4. 2021CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulationcited by 49
  5. 2023LEMON: Learning 3D Human-Object Interaction Relation from 2D Imagescited by 49
  6. 2021O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learningcited by 46
  7. 2025VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulationcited by 46
  8. 2023One-Shot Open Affordance Learning with Foundation Modelscited by 45
  9. 2023Open-Vocabulary Affordance Detection in 3D Point Cloudscited by 41
  10. 2021One-Shot Object Affordance Detection in the Wildcited by 40
  11. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 40
  12. 2023Affordance Grounding from Demonstration Video to Target Imagecited by 34
  13. 2024Learning Precise Affordances from Egocentric Videos for Robotic Manipulationcited by 34
  14. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  15. 2022One-Shot Transfer of Affordance Regions? AffCorrs!cited by 31
  16. 20253D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worldscited by 29
  17. 2022Affordance Learning from Play for Sample-Efficient Policy Learningcited by 27
  18. 2022K-VIL: Keypoints-based Visual Imitation Learningcited by 27
  19. 2021Learning Visual Affordance Grounding from Demonstration Videoscited by 25
  20. 2021Coarse-to-Fine Reasoning for Visual Question Answeringcited by 25
  21. 2022TOIST: Task Oriented Instance Segmentation Transformer with Noun-Pronoun Distillationcited by 25
  22. 2025UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulationcited by 23
  23. 2021Cerberus Transformer: Joint Semantic, Affordance and Attribute Parsingcited by 22
  24. 2022Grounded Affordance from Exocentric Viewcited by 21
  25. 2024Learning 2D Invariant Affordance Knowledge for 3D Affordance Groundingcited by 21
  26. 2021The Functional Correspondence Problemcited by 20
  27. 2021Global-Local Attention for Emotion Recognitioncited by 20
  28. 2025Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactionscited by 19
  29. 2023Multi-label affordance mapping from egocentric visioncited by 18
  30. 2024Composable Part-Based Manipulationcited by 17
  31. 2024GEAL: Generalizable 3D Affordance Learning with Cross-Modal Consistencycited by 17
  32. 2023From Text to Mask: Localizing Entities Using the Attention of Text-to-Image Diffusion Modelscited by 16
  33. 2021Graph-based Person Signature for Person Re-Identificationscited by 14
  34. 2024WorldAfford: Affordance Grounding based on Natural Language Instructionscited by 14
  35. 2024AFF-ttention! Affordances and Attention models for Short-Term Object Interaction Anticipationcited by 14
  36. 2023Bayesian Deep Learning for Affordance Segmentation in imagescited by 13
  37. 2022Beyond Object Recognition: A New Benchmark towards Object Concept Learningcited by 11
  38. 2024ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robotscited by 11

50 most cited of 126 All 126 (JSON)