One-Shot Transfer of Affordance Regions? AffCorrs!Download PDF

Published: 10 Sept 2022, Last Modified: 12 Mar 2024CoRL 2022 PosterReaders: Everyone
Keywords: One-shot, Affordance, Correspondence
TL;DR: One-shot transfer of affordance masks to unseen objects, both belonging to the same class and other classes.
Abstract: In this work, we tackle one-shot visual search of object parts. Given a single reference image of an object with annotated affordance regions, we segment semantically corresponding parts within a target scene. We propose AffCorrs, an unsupervised model that combines the properties of pre-trained DINO-ViT's image descriptors and cyclic correspondences. We use AffCorrs to find corresponding affordances both for intra- and inter-class one-shot part segmentation. This task is more difficult than supervised alternatives, but enables future work such as learning affordances via imitation and assisted teleoperation.
Student First Author: yes
Supplementary Material: zip
Community Implementations: [![CatalyzeX](/images/catalyzex_icon.svg) 1 code implementation](
5 Replies