{"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/open-vocabulary-affordance-detection-using","title":"Open-Vocabulary Affordance Detection using Knowledge Distillation and Text-Point Correlation","arxiv_id":"2309.10932","date":"2023-09-19","proceeding":null,"authors":["Tuan Van Vo","Minh Nhat Vu","Baoru Huang","Toan Nguyen","Ngan Le","Thieu Vo","Anh Nguyen"],"abstract":"Affordance detection presents intricate challenges and has a wide range of robotic applications. Previous works have faced limitations such as the complexities of 3D object shapes, the wide range of potential affordances on real-world objects, and the lack of open-vocabulary support for affordance understanding. In this paper, we introduce a new open-vocabulary affordance detection method in 3D point clouds, leveraging knowledge distillation and text-point correlation. Our approach employs pre-trained 3D models through knowledge distillation to enhance feature extraction and semantic understanding in 3D point clouds. We further introduce a new text-point correlation method to learn the semantic links between point cloud features and open-vocabulary labels. The intensive experiments show that our approach outperforms previous works and adapts to new affordance labels and unseen objects. Notably, our method achieves the improvement of 7.96% mIOU score compared to the baselines. Furthermore, it offers real-time inference which is well-suitable for robotic manipulation applications.","url_abs":"https://arxiv.org/abs/2309.10932v1","url_pdf":"https://arxiv.org/pdf/2309.10932v1.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"open-vocabulary-affordance-detection-using","repo_url":"https://github.com/Fsoft-AIC/Open-Vocabulary-Affordance-Detection-using-Knowledge-Distillation-and-Text-Point-Correlation","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2309.10932","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}