{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/o2o-afford-annotation-free-large-scale-object","title":"O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning","arxiv_id":"2106.15087","date":"2021-06-29","proceeding":null,"authors":["Kaichun Mo","Yuzhe Qin","Fanbo Xiang","Hao Su","Leonidas Guibas"],"abstract":"Contrary to the vast literature in modeling, perceiving, and understanding agent-object (e.g., human-object, hand-object, robot-object) interaction in computer vision and robotics, very few past works have studied the task of object-object interaction, which also plays an important role in robotic manipulation and planning tasks. There is a rich space of object-object interaction scenarios in our daily life, such as placing an object on a messy tabletop, fitting an object inside a drawer, pushing an object using a tool, etc. In this paper, we propose a unified affordance learning framework to learn object-object interaction for various tasks. By constructing four object-object interaction task environments using physical simulation (SAPIEN) and thousands of ShapeNet models with rich geometric diversity, we are able to conduct large-scale object-object affordance learning without the need for human annotations or demonstrations. At the core of technical contribution, we propose an object-kernel point convolution network to reason about detailed interaction between two objects. Experiments on large-scale synthetic data and real-world data prove the effectiveness of the proposed approach. Please refer to the project webpage for code, data, video, and more materials: https://cs.stanford.edu/~kaichun/o2oafford","url_abs":"https://arxiv.org/abs/2106.15087v2","url_pdf":"https://arxiv.org/pdf/2106.15087v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"o2o-afford-annotation-free-large-scale-object","repo_url":"https://github.com/daerduoCarey/o2oafford","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"diversity","task_name":"Diversity"},{"task_slug":"object","task_name":"Object"}],"methods":[{"method_slug":"convolution","method_name":"Convolution"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2106.15087","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}