notesum.ai

Published at November 29

GREAT: Geometry-Intention Collaborative Inference for Open-Vocabulary 3D Object Affordance Grounding

cs.CV

cs.AI

Released Date: November 29, 2024

Authors: Yawen Shao¹, Wei Zhai¹, Yuhang Yang¹, Hongchen Luo², Yang Cao³, Zheng-Jun Zha¹

Aff.: ¹University of Science and Technology of China; ²Northeastern University; ³Institute of Artificial Intelligence, Hefei Comprehensive National Science Center

Arxiv: http://arxiv.org/pdf/2411.19626v1

Seen

Unseen Object

Unseen Affordance

Methods

AUC

\uparrow

aIOU

\uparrow

SIM

\uparrow

MAE

\downarrow

AUC

\uparrow

aIOU

\uparrow

SIM

\uparrow

MAE

\downarrow

AUC

\uparrow

aIOU

\uparrow

SIM

\uparrow

MAE

\downarrow

Baseline

87.04

34.18

0.594

0.079

72.74{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 9.4\%}

16.34{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 23.4\%}

0.336{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 19.6\%}

0.156{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 30.1\%}

58.09{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 20.2\%}

7.88{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 52.9\%}

0.208{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 39.4\%}

0.160{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 20.6\%}

FRCNN [54]

87.05

33.55

0.600

0.082

72.20{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 10.2\%}

18.08{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 11.5\%}

0.362{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 11.0\%}

0.152{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 28.3\%}

59.08{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 18.2\%}

7.96{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 51.4\%}

0.210{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 38.1\%}

0.156{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 18.6\%}

XMF [1]

87.39

33.91

0.604

0.078

74.61{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 6.6\%}

17.40{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 15.9\%}

0.361{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 11.4\%}

0.126{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 13.5\%}

60.99{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 14.5\%}

8.11{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 48.6\%}

0.225{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 28.9\%}

0.152{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 16.4\%}

IAG [56]

89.03

34.29

0.623

0.076

73.03{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 9.0\%}

16.78{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 20.1\%}

0.351{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 14.5\%}

0.123{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 11.4\%}

62.29{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 12.1\%}

8.99{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 34.0\%}

0.251{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 15.5\%}

0.141{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 9.9\%}

LASO [27]

90.34

34.88

0.627

0.077

73.32{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 8.5\%}

16.05{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 25.6\%}

0.354{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 13.6\%}

0.123{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 11.4\%}

64.07{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 9.0\%}

8.37{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 44.0\%}

0.228{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 27.2\%}

0.140{\color[rgb]{0.91,0.33,0.5}\scriptstyle~{}\diamond 9.3\%}

Ours

91.99

38.03

0.676

0.067

79.57

20.16

0.402

0.109

69.81

12.05

0.290

0.127