# Affordance Labeling and Exploration: A Manifold-Based Approach

arXiv: https://arxiv.org/abs/2407.15479 · HTML: https://mlsanity.com/paper/2407.15479/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 46 references that are in the map.
- First posted on arXiv 22 Jul 2024.

## Builds on (most cited first, 17 of 17)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Going Deeper with Convolutions](https://mlsanity.com/paper/1409.4842/) (2014)
- [Aggregated Residual Transformations for Deep Neural Networks](https://mlsanity.com/paper/1611.05431/) (2016)
- [EfficientNetV2: Smaller Models and Faster Training](https://mlsanity.com/paper/2104.00298/) (2021)
- [Designing Network Design Spaces](https://mlsanity.com/paper/2003.13678/) (2020)
- [DeepDriving: Learning Affordance for Direct Perception in Autonomous Driving](https://mlsanity.com/paper/1505.00256/) (2015)
- [Learning to Act Properly: Predicting and Explaining Affordances from Images](https://mlsanity.com/paper/1712.07576/) (2017)
- [LOCATE: Localize and Transfer Object Parts for Weakly Supervised Affordance Grounding](https://mlsanity.com/paper/2303.09665/) (2023)
- [Grounding 3D Object Affordance from 2D Interactions in Images](https://mlsanity.com/paper/2303.10437/) (2023)
- [LEMON: Learning 3D Human-Object Interaction Relation from 2D Images](https://mlsanity.com/paper/2312.08963/) (2023)
- [One-Shot Open Affordance Learning with Foundation Models](https://mlsanity.com/paper/2311.17776/) (2023)
- [Deep Affordance Foresight: Planning Through What Can Be Done in the Future](https://mlsanity.com/paper/2011.08424/) (2020)
- [A Deep Learning Approach to Object Affordance Segmentation](https://mlsanity.com/paper/2004.08644/) (2020)
- [Affordance-Aware Handovers with Human Arm Mobility Constraints](https://mlsanity.com/paper/2010.15436/) (2020)
- [Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects via Physical Simulations](https://mlsanity.com/paper/2008.02321/) (2020)

## Built on by (most cited first, 1 of 1)

- [Filling the Pareto-Optimal Front for Affordance Segmentation on Embedded Devices Using RGB-D Cameras](https://mlsanity.com/paper/2607.28293/) (2026)

## Abstract (arXiv)

The advancement in computing power has significantly reduced the training times for deep learning, fostering the rapid development of networks designed for object recognition. However, the exploration of object utility, which is the affordance of the object, as opposed to object recognition, has received comparatively less attention. This work focuses on the problem of exploration of object affordances using existing networks trained on the object classification dataset. While pre-trained networks have proven to be instrumental in transfer learning for classification tasks, this work diverges from conventional object classification methods. Instead, it employs pre-trained networks to discern affordance labels without the need for specialized layers, abstaining from modifying the final layers through the addition of classification layers. To facilitate the determination of affordance labels without such modifications, two approaches, i.e. subspace clustering and manifold curvature methods are tested. These methods offer a distinct perspective on affordance label recognition. Especially, manifold curvature method has been successfully tested with nine distinct pre-trained networks, each achieving an accuracy exceeding 95%. Moreover, it is observed that manifold curvature and subspace clustering methods explore affordance labels that are not marked in the ground truth, but object affords in various cases.