mlsanityData to 14 Oct 2026

One-Shot Open Affordance Learning with Foundation Models

arXiv 2311.17776 ↗First posted 29 Nov 2023cs.CVcited by 45

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Abstract (arXiv)

We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing novel objects and scenes, they often struggle to understand finer levels of granularity such as affordances. To handle this issue, we conduct a comprehensive analysis of existing foundation models, to explore their inherent understanding of affordances and assess the potential for data-limited affordance learning. We then propose a vision-language framework with simple and effective designs that boost the alignment between visual features and affordance text embeddings. Experiments on two affordance segmentation benchmarks show that the proposed method outperforms state-of-the-art models with less than 1% of the full training data, and exhibits reasonable generalization capability on unseen objects and affordances.

Key facts. Cited by 45 papers in the map (data through 14 Oct 2026). Builds on 50 of its 68 references that are in the map. First posted on arXiv 29 Nov 2023.

Builds on

50 of 68 references.

References · 50

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,744
  2. 2020Language Models are Few-Shot Learnerscited by 32,419
  3. 2023GPT-4 Technical Reportcited by 18,396
  4. 2023Segment Anythingcited by 8,234
  5. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  6. 2021Emerging Properties in Self-Supervised Vision Transformerscited by 6,968
  7. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,332
  8. 2018Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentationcited by 3,223
  9. 2021SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformerscited by 2,940
  10. 2016Pyramid Scene Parsing Networkcited by 2,479
  11. 2021Masked-attention Mask Transformer for Universal Image Segmentationcited by 2,351
  12. 2021Learning to Prompt for Vision-Language Modelscited by 2,281
38 more
  1. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 750
  2. 2021Extract Free Dense Labels from CLIPcited by 583
  3. 2022DeiT III: Revenge of the ViTcited by 419
  4. 2017One-Shot Learning for Semantic Segmentationcited by 337
  5. 2021Deep ViT Features as Dense Visual Descriptorscited by 330
  6. 2023Side Adapter Network for Open-Vocabulary Semantic Segmentationcited by 300
  7. 2023Affordances from Human Videos as a Versatile Representation for Roboticscited by 226
  8. 2023CAT-Seg: Cost Aggregation for Open-Vocabulary Semantic Segmentationcited by 219
  9. 2022ZegCLIP: Towards Adapting CLIP for Zero-shot Semantic Segmentationcited by 178
  10. 2018Grounded Human-Object Interaction Hotspots from Videocited by 129
  11. 2017AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detectioncited by 128
  12. 2022Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videoscited by 111
  13. 2022Grounding Language with Visual Affordances over Unstructured Datacited by 101
  14. 20213D AffordanceNet: A Benchmark for Visual Object Affordance Understandingcited by 100
  15. 2023Language Embedded Radiance Fields for Zero-Shot Task-Oriented Graspingcited by 91
  16. 2022Learning Affordance Grounding from Exocentric Imagescited by 82
  17. 2021Affordance Transfer Learning for Human-Object Interaction Detectioncited by 79
  18. 2017Learning to Act Properly: Predicting and Explaining Affordances from Imagescited by 74
  19. 2020Learning Affordance Landscapes for Interaction Exploration in 3D Environmentscited by 65
  20. 2023LOCATE: Localize and Transfer Object Parts for Weakly Supervised Affordance Groundingcited by 64
  21. 2023Grounding 3D Object Affordance from 2D Interactions in Imagescited by 62
  22. 2023Going Denser with Open-Vocabulary Part Segmentationcited by 51
  23. 2023Open-Vocabulary Affordance Detection in 3D Point Cloudscited by 41
  24. 2023Affordance Grounding from Demonstration Video to Target Imagecited by 34
  25. 2021One-Shot Affordance Detectioncited by 32
  26. 2023OV-PARTS: Towards Open-Vocabulary Part Segmentationcited by 31
  27. 2022Affordance Learning from Play for Sample-Efficient Policy Learningcited by 30
  28. 2020Affordances in Robotic Tasks -- A Surveycited by 28
  29. 2019Learning Grasp Affordance Reasoning through Semantic Relationscited by 23
  30. 2022Grounded Affordance from Exocentric Viewcited by 22
  31. 2023Learning 6-DoF Fine-grained Grasp Detection Based on Part Affordance Groundingcited by 17
  32. 2017Adaptive Binarization for Weakly Supervised Affordance Segmentationcited by 16
  33. 2023Lan-grasp: Using Large Language Models for Semantic Object Grasping and Placementcited by 16
  34. 2023Visual Affordance Prediction for Guiding Robot Explorationcited by 14
  35. 2023Bayesian Deep Learning for Affordance Segmentation in imagescited by 13
  36. 2023Recent Advances of Deep Robotic Affordance Learning: A Reinforcement Learning Perspectivecited by 10
  37. 2023STRAP: Structured Object Affordance Segmentation with Point Supervisioncited by 10
  38. 2021Relationship Oriented Affordance Learning through Manipulation Graph Constructioncited by 2

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 9; 2025: 24; 2026: 12.

45 papers.

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  1. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 38
  2. 2024Learning Precise Affordances from Egocentric Videos for Robotic Manipulationcited by 34
  3. 2024GREAT: Geometry-Intention Collaborative Inference for Open-Vocabulary 3D Object Affordance Groundingcited by 28
  4. 2026PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulationcited by 21
  5. 2024GEAL: Generalizable 3D Affordance Learning with Cross-Modal Consistencycited by 18
  6. 2024WorldAfford: Affordance Grounding based on Natural Language Instructionscited by 14
  7. 2024LLM-enhanced Scene Graph Learning for Household Rearrangementcited by 12
  8. 2025RAGNet: Large-scale Reasoning-based Affordance Segmentation Benchmark towards General Graspingcited by 11
  9. 20252HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videoscited by 9
  10. 2025Weakly-Supervised Affordance Grounding Guided by Part-Level Semantic Priorscited by 9
  11. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  12. 2025AffordanceSAM: Segment Anything Once More in Affordance Groundingcited by 6
33 more
  1. 2025Affogato: Open-Vocabulary Affordance Grounding with Automated Data Generation at Scalecited by 6
  2. 2025Diffusion Models are Open-World Affordance Learners: Leveraging Generative Priors for 3D Affordance Learningcited by 6
  3. 2025Selective Contrastive Learning for Weakly Supervised Affordance Groundingcited by 6
  4. 2025Task-Aware 3D Affordance Segmentation via 2D Guidance and Geometric Refinementcited by 6
  5. 2026AffordVLA: Injecting Affordance Representations into Vision-Language-Action Models via Implicit Feature Alignmentcited by 5
  6. 2024ContactHandover: Contact-Guided Robot-to-Human Object Handovercited by 3
  7. 2025One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenescited by 3
  8. 2025Resource-Efficient Affordance Grounding with Complementary Depth and Semantic Promptscited by 3
  9. 2025Afford-X: Generalizable and Slim Affordance Reasoning for Task-oriented Manipulationcited by 3
  10. 2025Interpretable Affordance Detection on 3D Point Clouds with Probabilistic Prototypescited by 3
  11. 2025O3Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulationcited by 3
  12. 2025AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulationcited by 3
  13. 2024DiffuSyn Bench: Evaluating Vision-Language Models on Real-World Complexities with Diffusion-Generated Synthetic Benchmarkscited by 2
  14. 2025Affordance-Guided Diffusion Prior for 3D Hand Reconstructioncited by 2
  15. 2025Unlocking 3D Affordance Segmentation with 2D Semantic Knowledgecited by 2
  16. 2024Enabling robots to follow abstract instructions and complete complex dynamic taskscited by 1
  17. 2024Affordance Labeling and Exploration: A Manifold-Based Approachcited by 1
  18. 2025Visual Affordance Prediction: Survey and Reproducibilitycited by 1
  19. 2025Populate-A-Scene: Affordance-Aware Human Video Generationcited by 1
  20. 2026AffordanceGrasp-R1:Leveraging Reasoning-Based Affordance Segmentation with Reinforcement Learning for Robotic Graspingcited by 1
  21. 2026CompassAD: Intent-Driven 3D Affordance Grounding in Functionally Competing Objectscited by 1
  22. 2025Towards Affordance-Aware Articulation Synthesis for Rigged Objectscited by 0
  23. 2025Informative Text-Image Alignment for Visual Affordance Learning with Foundation Modelscited by 0
  24. 2025J-ORA: A Framework and Multimodal Dataset for Japanese Object Identification, Reference, Action Prediction in Robot Perceptioncited by 0
  25. 2025YOLOA: Real-Time Affordance Detection via LLM Adaptercited by 0
  26. 2026TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinementcited by 0
  27. 2026Probing and Bridging Geometry-Interaction Cues for Affordance Reasoning in Vision Foundation Modelscited by 0
  28. 2026UniFunc3D: Unified Active Spatial-Temporal Grounding for 3D Affordance Segmentationcited by 0
  29. 2026Uncertainty Estimation in Instance Segmentation of Affordances via Bayesian Visual Transformerscited by 0
  30. 2026SECOND-Grasp: Semantic Contact-guided Dexterous Graspingcited by 0
  31. 2026GROW2: Grounding Which and Where for Robot Tool Usecited by 0
  32. 2026Zero-shot 2D Grounding with Novel Affordance Typescited by 0
  33. 2026ThinkAfford: Affordance-Centric Reasoning for Fine-Grained 3D Grounding in Cluttered Scenescited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024TEXT2AFFORD: Probing Object Affordance Prediction abilities of Language Models solely from Text
  2. 2024AffordanceLLM: Grounding Affordance from Vision Language Models
  3. 20253D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worlds
  4. 2026AffordAny: Open-World 3D Affordance Grounding from Monocular RGB Images via Vision-Language-Guided Geometric Reasoning
  5. 2024INTRA: Interaction Relationship-aware Weakly Supervised Affordance Grounding
  6. 2025Affordance Benchmark for MLLMs
  7. 2025A4-Agent: An Agentic Framework for Zero-Shot Affordance Reasoning
  8. 2026Benchmarking Affordance Generalization with BusyBox