yeszhong2026cc-by-nc-sa-4.0
AFUN_train
Training dataset of 44,749 data points for affordance segmentation and 3D interaction-motion prediction, featuring RGB frames, depth maps, affordance masks, 3D motion trajectories, and language instructions.
Downloads68
Episodes44749
Why This Matters for Physical AI
AFUN provides a large-scale multimodal dataset for learning affordance understanding and 3D motion prediction, enabling foundation models to recognize functional object parts and predict how they interact across diverse robotic and human demonstrations.
Technical Profile
- Modalities
- rgbdepthlanguagesegmentation
- Robot Embodiments
- Franka Pandahumanoidmobile_manipulator
- Environment
- labsimulationindoor
- Task Types
- manipulationaffordance_predictionmotion_prediction
- Episodes
- 44749
- Data Format
- custom
- Annotation Types
- language_instructionssegmentation3d_motion_trajectories
- License
- cc-by-nc-sa-4.0
Access
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