# Language-Conditioned Affordance-Pose Detection in 3D Point Clouds [](https://2024.ieee-icra.org/) [](https://arxiv.org/abs/2309.10911) Official code for the ICRA 2024 paper "Language-Conditioned Affordance-Pose Detection in 3D Point Clouds". We address the task of language-driven affordance-pose detection in 3D point clouds. Our method simultaneously detect open-vocabulary affordances and generate affordance-specific 6-DoF poses.  We present 3DAPNet, a new method for affordance-pose joint learning. Given the captured 3D point cloud of an object and a set of affordance labels conveyed through natural language texts, our objective is to jointly produce both the relevant affordance regions and the appropriate pose configurations that facilitate the affordances.

1. Getting Started

We strongly encourage you to create a separate conda environment.

conda create -n affpose python=3.8
conda activate affpose
conda install pip
pip install -r requirements.txt

2. Dataset

Our 3DAP dataset is available at this drive folder.

3. Training

Current framework supports training on a single GPU. Followings are the steps for training our method with configuration file config/detectiondiffusion.py.

• In config/detectiondiffusion.py, change the value of data_path to your downloaded pickle file.
• Change other hyperparameters if needed.

• Run the following command to start training:

  python3 train.py --config ./config/detectiondiffusion.py

4. Open-Vocabulary Testing

Executing the following command for testing of your trained model:

python3 detect.py --config <your configuration file> --checkpoint <your  trained model checkpoint> --test_data <test data in the 3DAP dataset>

Note that we current generate 2000 poses for each affordance-object pair. The guidance scale is currently set to 0.5. Feel free to change these hyperparameters according to your preference.

The result will be saved to a result.pkl file.

5. Visualization

To visuaize the result of affordance detection and pose estimation, execute the following script:

            python3 visualize.py --result_file <your result pickle file>

Example of visualization:

6. Citation

If you find our work useful for your research, please cite:

@inproceedings{Nguyen2024language,
      title={Language-Conditioned Affordance-Pose Detection in 3D Point Clouds},
      author={Nguyen, Toan and Vu, Minh Nhat and Huang, Baoru and Van Vo, Tuan and Truong, Vy and Le, Ngan and Vo, Thieu and Le, Bac and Nguyen, Anh},
      booktitle = ICRA,
      year      = {2024}
}

Thank you very much.