From 204K egocentric human videos, the authors automatically extract visual, grasp, and trajectory affordances and train one vision-language model, VLAff, that predicts all three for robot manipulation.
H2o: Two hands manipulating objects for first person interaction recognition,
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VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances
From 204K egocentric human videos, the authors automatically extract visual, grasp, and trajectory affordances and train one vision-language model, VLAff, that predicts all three for robot manipulation.