PADv2 (Purpose-driven Affordance Dataset v2)
Introduced by Zhai et al. in One-Shot Object Affordance Detection in the Wild
With complex scenes and rich annotations, the PADv2 dataset can be used as a test bed to benchmark affordance detection methods and may also facilitate downstream vision tasks, such as scene understanding, action recognition, and robot manipulation.
It contains 30k diverse images covering 39 affordance categories as well as 103 object categories from different scenes.
Papers
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