CLARU
yeszhong2026cc-by-nc-sa-4.0

AFUN

A dataset of 44,749 data points for affordance segmentation and 3D interaction-motion prediction, combining RGB frames, depth maps, affordance masks, 3D motion trajectories, and language instructions from multiple robot and human video sources.

Downloads100

Technical Profile

Modalities
rgbdepthlanguagesegmentation
Robot Embodiments
DROIDRoboMINDAgiBotRH20TCALVIN
Environment
labsimulation
Task Types
affordance_segmentationmanipulationinteraction_prediction
Data Format
json
License
cc-by-nc-sa-4.0
Part of the AFUN family

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