AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers
Paper • 2603.27970 • Published
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The info cannot be fetched for the config 'default' of the dataset.
Error code: InfoError
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/urllib3/response.py", line 779, in _error_catcher
yield
File "/usr/local/lib/python3.12/site-packages/urllib3/response.py", line 925, in _raw_read
raise IncompleteRead(self._fp_bytes_read, self.length_remaining)
urllib3.exceptions.IncompleteRead: IncompleteRead(7382647 bytes read, 2958658 more expected)
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/requests/models.py", line 820, in generate
yield from self.raw.stream(chunk_size, decode_content=True)
File "/usr/local/lib/python3.12/site-packages/urllib3/response.py", line 1091, in stream
data = self.read(amt=amt, decode_content=decode_content)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/urllib3/response.py", line 1008, in read
data = self._raw_read(amt)
^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/urllib3/response.py", line 903, in _raw_read
with self._error_catcher():
^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/contextlib.py", line 158, in __exit__
self.gen.throw(value)
File "/usr/local/lib/python3.12/site-packages/urllib3/response.py", line 803, in _error_catcher
raise ProtocolError(arg, e) from e
urllib3.exceptions.ProtocolError: ('Connection broken: IncompleteRead(7382647 bytes read, 2958658 more expected)', IncompleteRead(7382647 bytes read, 2958658 more expected))
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/folder_based_builder/folder_based_builder.py", line 134, in _split_generators
analyze(archives, downloaded_dirs, split_name)
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/folder_based_builder/folder_based_builder.py", line 88, in analyze
if os.path.isfile(downloaded_files_or_dirs[0]):
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/streaming.py", line 73, in wrapper
return function(*args, download_config=download_config, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/file_utils.py", line 745, in xisfile
fs, *_ = url_to_fs(path, **storage_options)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/core.py", line 395, in url_to_fs
fs = filesystem(protocol, **inkwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/registry.py", line 293, in filesystem
return cls(**storage_options)
^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/spec.py", line 80, in __call__
obj = super().__call__(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/implementations/zip.py", line 62, in __init__
self.zip = zipfile.ZipFile(
^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/zipfile/__init__.py", line 1354, in __init__
self._RealGetContents()
File "/usr/local/lib/python3.12/zipfile/__init__.py", line 1442, in _RealGetContents
data = fp.read(size_cd)
^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 1015, in read
return super().read(length)
^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/spec.py", line 1846, in read
out = self.cache._fetch(self.loc, self.loc + length)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/caching.py", line 189, in _fetch
self.cache = self.fetcher(start, end) # new block replaces old
^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 969, in _fetch_range
r = http_backoff(
^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 310, in http_backoff
response = session.request(method=method, url=url, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/requests/sessions.py", line 589, in request
resp = self.send(prep, **send_kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/requests/sessions.py", line 724, in send
history = [resp for resp in gen]
^^^
File "/usr/local/lib/python3.12/site-packages/requests/sessions.py", line 265, in resolve_redirects
resp = self.send(
^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/requests/sessions.py", line 746, in send
r.content
File "/usr/local/lib/python3.12/site-packages/requests/models.py", line 902, in content
self._content = b"".join(self.iter_content(CONTENT_CHUNK_SIZE)) or b""
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/requests/models.py", line 822, in generate
raise ChunkedEncodingError(e)
requests.exceptions.ChunkedEncodingError: ('Connection broken: IncompleteRead(7382647 bytes read, 2958658 more expected)', IncompleteRead(7382647 bytes read, 2958658 more expected))
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 223, in compute_first_rows_from_streaming_response
info = get_dataset_config_info(path=dataset, config_name=config, token=hf_token)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
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AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers (CVPR 2026)
Nghia Vu
[Project Page] [Paper]
Abstract
Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending this learning capability to a scene is significantly more complicated, as incorporating object- and scene-level semantics is not straightforward. In this work, we introduce AffordBridge, a large-scale dataset with $291,637$ functional interaction annotations across $685$ high-resolution indoor scenes in the form of point clouds. Our affordance annotations are complemented by RGB images that are linked to the same instances within the scenes. Building upon our dataset, we propose AffordMatcher an affordance learning method that establishes coherent semantic correspondences between image-based and point cloud-based instances for keypoint matching, enabling a more precise identification of affordance regions based on cues, so-called visual signifiers.
AffordBridge Dataset
3D Affordance label: We reuse the scene and 3D affordance label of SceneFun3D Dataset. Please navigate to the SceneFun3D homepage to download it
Visual clue images: We reason the affordance labels in scene by annotating visual cue images, which can be downloaded here.
After downloading, you will obtain the data in the following structure
finalized_data
└───420693 # scene_id
│ └───hook_pull_0 # action in format <action>_<idx>
│ │ │ image_0.png # list of images
│ │ │ image_1.png
│ │ │ ...
│ │
│ └───hook_pull_1
│ │ │ image_2.png
│ │ │ image_3.png
│ │ │ image_4.png
│ │ │ ...
│ └───rotate_0
│ │ │ image_5.png
│ │ │ image_6.png
│ │ │ image_7.png
│ │ │ ...
│ └───...
└───421093
│ └───...
└───...
Citation
If you find this work interesting and helpful, please consider citing
@inproceedings{vu2026AffordMatcher,
title = {AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers},
author = {Vu, Nghia and Do, Tuong and Nguyen, Khang and Huang , Baoru and Le, Nhat and Nguyen, Binh X and Tjiputra, Erman and Tran, Quang D and Prakash, Ravi and Chiu, Te-Chuan and Nguyen, Anh},
year = {2026},
booktitle = {CVPR},
}
License
MIT License
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