Affordance Grounding

Benchmarks

Dataset Name	SOTA Method	Metric
AGD20k v1 (Unseen)	TokAG	KLD1.043	28	18d ago
AGD20k v1 (Seen)	PanoAffordanceNet	KLD0.739	28	18d ago
ReasonAff (test)	A-Harness	gIoU69.68	21	2mo ago
Affordance Grounding Dataset Static Evaluation 1.0	CRAFT-E	Accuracy64.95	20	4mo ago
UMD (test)	A-Harness	gIoU57.61	18	2mo ago
RoboAfford	Cosmos3 Nano	Score84	14	18d ago
HANDAL hard (test)	A-Harness	gIoU62.8	14	2mo ago
HANDAL easy (test)	A-Harness	gIoU63.5	14	2mo ago
3DOI (test)	A-Harness	gIoU65.6	14	2mo ago
OPRA 28 x 28 (test)	Afformer	KLD1.05	11	4mo ago
EPIC-Hotspots 28 x 28 (test)	Afformer	KLD0.97	10	4mo ago
Where2-place	XEmbodied	Score2.3	9	3mo ago
OPRA (test)		KLD1.197	9	4mo ago
A2A-Bench Multi-instance 1.0 (test)	A2A-AffordGen	sIoU60.44	8	1mo ago
A2A-Bench Single-instance 1.0 (test)	A2A-AffordGen	gIoU81.91	8	1mo ago
EPIC (test)	HAG-Net	KLD1.209	8	4mo ago
HICO-IIF Seen (test)	TokAG	KLD1.032	7	18d ago
Where2Place		Mask-Hit87	7	4mo ago
PIAD2 Unseen Aff	DAG	mIoU16.09	6	18d ago
AGD20K (test)	TokAG	Preference Rate (Annotator 1)70.6	4	18d ago
UMD	Affordance Agent Harness	gIoU52.74	4	2mo ago
EPIC-Aff (unseen)	TokAG	KLD3.367	3	18d ago
360-AGD (Hard Split)	PanoAffordanceNet	KLD1.306	3	4mo ago
360-AGD (Easy Split)	PanoAffordanceNet	KLD1.27	3	4mo ago
Fine-AGDDO 15 (test)	TRACER	KLD1.197	3	4mo ago

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