mlsanityData to 7 Oct 2026

One-Shot Affordance Detection

arXiv 2106.14747 ↗First posted 28 Jun 2021cs.CVcited by 32

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Abstract (arXiv)

Affordance detection refers to identifying the potential action possibilities of objects in an image, which is an important ability for robot perception and manipulation. To empower robots with this ability in unseen scenarios, we consider the challenging one-shot affordance detection problem in this paper, i.e., given a support image that depicts the action purpose, all objects in a scene with the common affordance should be detected. To this end, we devise a One-Shot Affordance Detection (OS-AD) network that firstly estimates the purpose and then transfers it to help detect the common affordance from all candidate images. Through collaboration learning, OS-AD can capture the common characteristics between objects having the same underlying affordance and learn a good adaptation capability for perceiving unseen affordances. Besides, we build a Purpose-driven Affordance Dataset (PAD) by collecting and labeling 4k images from 31 affordance and 72 object categories. Experimental results demonstrate the superiority of our model over previous representative ones in terms of both objective metrics and visual quality. The benchmark suite is at ProjectPage.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). Builds on 21 of its 35 references that are in the map. First posted on arXiv 28 Jun 2021.

Builds on

21 of 35 references.

References · 21

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9 more
  1. 2020Empowering Things with Intelligence: A Survey of the Progress, Challenges, and Opportunities in Artificial Intelligence of Thingscited by 110
  2. 2020Highly Efficient Salient Object Detection with 100K Parameterscited by 79
  3. 2017Learning to Act Properly: Predicting and Explaining Affordances from Imagescited by 74
  4. 2020Re-thinking Co-Salient Object Detectioncited by 54
  5. 2019On Exploring Undetermined Relationships for Visual Relationship Detectioncited by 26
  6. 2018Visual Affordance and Function Understanding: A Surveycited by 20
  7. 2020Progressive One-shot Human Parsingcited by 12
  8. 2018One-Shot Segmentation in Cluttercited by 7
  9. 2019One-Shot Texture Retrieval with Global Context Metriccited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 3; 2023: 6; 2024: 9; 2025: 11; 2026: 1.

32 papers.

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  1. 2023Grounding 3D Object Affordance from 2D Interactions in Imagescited by 62
  2. 2023One-Shot Open Affordance Learning with Foundation Modelscited by 45
  3. 2023Open-Vocabulary Affordance Detection in 3D Point Cloudscited by 41
  4. 2021One-Shot Object Affordance Detection in the Wildcited by 40
  5. 2022One-Shot Transfer of Affordance Regions? AffCorrs!cited by 31
  6. 2024GREAT: Geometry-Intention Collaborative Inference for Open-Vocabulary 3D Object Affordance Groundingcited by 26
  7. 2021Learning Visual Affordance Grounding from Demonstration Videoscited by 25
  8. 2022Grounded Affordance from Exocentric Viewcited by 21
  9. 2024Learning 2D Invariant Affordance Knowledge for 3D Affordance Groundingcited by 21
  10. 2022Phrase-Based Affordance Detection via Cyclic Bilateral Interactioncited by 19
  11. 2025Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactionscited by 19
  12. 2024GEAL: Generalizable 3D Affordance Learning with Cross-Modal Consistencycited by 17
20 more
  1. 2024Intent3D: 3D Object Detection in RGB-D Scans Based on Human Intentioncited by 16
  2. 2023RIO: A Benchmark for Reasoning Intention-Oriented Objects in Open Environmentscited by 15
  3. 2024WorldAfford: Affordance Grounding based on Natural Language Instructionscited by 14
  4. 2025GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulationcited by 14
  5. 2024Grounding 3D Scene Affordance From Egocentric Interactionscited by 11
  6. 2025Visual Intention Grounding for Egocentric Assistantscited by 11
  7. 2025Weakly-Supervised Affordance Grounding Guided by Part-Level Semantic Priorscited by 9
  8. 2023NOIR: Neural Signal Operated Intelligent Robots for Everyday Activitiescited by 8
  9. 2024Beyond Literal Descriptions: Understanding and Locating Open-World Objects Aligned with Human Intentionscited by 8
  10. 2025Bridging Perspectives: A Survey on Cross-view Collaborative Intelligence with Egocentric-Exocentric Visioncited by 8
  11. 2025Afford-X: Generalizable and Slim Affordance Reasoning for Task-oriented Manipulationcited by 3
  12. 2024Visual-Geometric Collaborative Guidance for Affordance Learningcited by 2
  13. 2025Beyond Object Categories: Multi-Attribute Reference Understanding for Visual Groundingcited by 2
  14. 2025Unlocking 3D Affordance Segmentation with 2D Semantic Knowledgecited by 2
  15. 2023Implicit Affordance Acquisition via Causal Action-Effect Modeling in the Video Domaincited by 1
  16. 2025Visual Affordance Prediction: Survey and Reproducibilitycited by 1
  17. 2024Leverage Task Context for Object Affordance Rankingcited by 0
  18. 2025Populate-A-Scene: Affordance-Aware Human Video Generationcited by 0
  19. 2025YOLOA: Real-Time Affordance Detection via LLM Adaptercited by 0
  20. 2026SpatialAfford: Teaching Compact VLMs Where to Look and Where to Ground for Affordancecited by 0