3D-ADLLM Affordance Mask Browser
这里展示的是官方 OpenAD full-view eval 的 2048 点点云样本。每张卡片对应一个资产和一个 affordance label：左起依次是资产点云外观、GT mask、模型预测 mask、以及 TP/FP/FN 误差分解。注意官方公开 pkl 中保存的是归一化点云，不是原始 mesh。
颜色说明：GT/Pred 图中红色为 mask 点；误差图中绿色 TP、橙色 FP、蓝色 FN、灰色背景点。
Visualized samples24
Object classes10
Affordance labels12
Subset avg IoU0.292
sample #0 · Door
Door / push
23d8f4bc9f6ef1e79ba80f08c401fbed
Please help me find the regions on this object that is relevant to the functional description:push.
- IoU
- 0.662
- Acc
- 0.887
- Precision
- 0.831
- Recall
- 0.765
- GT points
- 592
- Pred points
- 545
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please help me find the regions on this object that is relevant to the functional description:push. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #1 · Door
Door / drag
23d8f4bc9f6ef1e79ba80f08c401fbed
Please find me a functional regions on this object that can be used to drag.
- IoU
- 0.019
- Acc
- 0.664
- Precision
- 0.019
- Recall
- 0.333
- GT points
- 39
- Pred points
- 676
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please find me a functional regions on this object that can be used to drag. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #2 · Door
Door / unlock
6fa3be2ac3e1cc7c2962d6cb797bc52e
Can you show me where the unlock regions is in this object?
- IoU
- 0.010
- Acc
- 0.754
- Precision
- 0.010
- Recall
- 1.000
- GT points
- 5
- Pred points
- 508
Model text: system|> You are a helpful assistant. <|end|> <|user|> Can you show me where the unlock regions is in this object? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #55 · Clock
Clock / demonstrate
90d93cd686935a4bd866363c8e6eab2b
Please help me find the regions on this object that is relevant to the functional description:demonstrate.
- IoU
- 0.460
- Acc
- 0.645
- Precision
- 0.901
- Recall
- 0.484
- GT points
- 1279
- Pred points
- 687
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please help me find the regions on this object that is relevant to the functional description:demonstrate. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #107 · Dishwasher
Dishwasher / accommodate
u3ac99406-67e2-41b5-a172-1b674c9aa2e8
Please find me a functional regions on this object that can be used to accommodate.
- IoU
- 0.243
- Acc
- 0.626
- Precision
- 1.000
- Recall
- 0.243
- GT points
- 1010
- Pred points
- 245
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please find me a functional regions on this object that can be used to accommodate. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #108 · Dishwasher
Dishwasher / unlock
u3ac99406-67e2-41b5-a172-1b674c9aa2e8
Where is the unlock regions situated on the object in this point clouds data?
- IoU
- 0.022
- Acc
- 0.956
- Precision
- 0.053
- Recall
- 0.035
- GT points
- 57
- Pred points
- 38
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the unlock regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #138 · Earphone
Earphone / grab
5d089ccd-98db-4fb0-9e1a-9a5650390e54
Please help me find the regions on this object that is relevant to the functional description:grab.
- IoU
- 0.010
- Acc
- 0.232
- Precision
- 0.013
- Recall
- 0.046
- GT points
- 346
- Pred points
- 1259
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please help me find the regions on this object that is relevant to the functional description:grab. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #139 · Earphone
Earphone / hear
5d089ccd-98db-4fb0-9e1a-9a5650390e54
Where is the hear regions situated on the object in this point clouds data?
- IoU
- 0.358
- Acc
- 0.654
- Precision
- 0.369
- Recall
- 0.925
- GT points
- 427
- Pred points
- 1071
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the hear regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #182 · Vase
Vase / wrap
e4a868a10e10dda4befcf48d5b3e17b5
Please help me find the regions on this object that is relevant to the functional description:wrap.
- IoU
- 0.963
- Acc
- 0.968
- Precision
- 0.997
- Recall
- 0.965
- GT points
- 1761
- Pred points
- 1705
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please help me find the regions on this object that is relevant to the functional description:wrap. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #183 · Vase
Vase / accommodate
edb8e199485be4e968747a7f12307bdb
Where is the accommodate regions situated on the object in this point clouds data?
- IoU
- 0.060
- Acc
- 0.734
- Precision
- 0.380
- Recall
- 0.067
- GT points
- 523
- Pred points
- 92
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the accommodate regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #185 · Vase
Vase / pour
edb8e199485be4e968747a7f12307bdb
Where is the pour regions situated on the object in this point clouds data?
- IoU
- 0.649
- Acc
- 0.924
- Precision
- 0.732
- Recall
- 0.853
- GT points
- 339
- Pred points
- 395
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the pour regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #477 · Knife
Knife / grab
3ef87a241213eb129f30f02514717f00
Please find me a functional regions on this object that can be used to grab.
- IoU
- 0.000
- Acc
- 0.320
- Precision
- 0.000
- Recall
- 0.000
- GT points
- 1292
- Pred points
- 100
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please find me a functional regions on this object that can be used to grab. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #478 · Knife
Knife / slice
3ef87a241213eb129f30f02514717f00
Can you show me where the slice regions is in this object?
- IoU
- 0.022
- Acc
- 0.805
- Precision
- 0.300
- Recall
- 0.023
- GT points
- 388
- Pred points
- 30
Model text: system|> You are a helpful assistant. <|end|> <|user|> Can you show me where the slice regions is in this object? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #479 · Knife
Knife / jab
3ef87a241213eb129f30f02514717f00
Please help me find the regions on this object that is relevant to the functional description:jab.
- IoU
- 0.677
- Acc
- 0.995
- Precision
- 0.677
- Recall
- 1.000
- GT points
- 21
- Pred points
- 31
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please help me find the regions on this object that is relevant to the functional description:jab. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #567 · Bowl
Bowl / accommodate
e3095ecacc36080cb398a1cfd1079875
Where is the accommodate regions situated on the object in this point clouds data?
- IoU
- 0.296
- Acc
- 0.657
- Precision
- 0.302
- Recall
- 0.937
- GT points
- 315
- Pred points
- 978
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the accommodate regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #568 · Bowl
Bowl / wrap
e3095ecacc36080cb398a1cfd1079875
Please help me find the regions on this object that is relevant to the functional description:wrap.
- IoU
- 0.588
- Acc
- 0.844
- Precision
- 0.662
- Recall
- 0.840
- GT points
- 543
- Pred points
- 689
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please help me find the regions on this object that is relevant to the functional description:wrap. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #569 · Bowl
Bowl / pour
e3095ecacc36080cb398a1cfd1079875
Where is the pour regions situated on the object in this point clouds data?
- IoU
- 0.576
- Acc
- 0.837
- Precision
- 0.577
- Recall
- 0.998
- GT points
- 453
- Pred points
- 784
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the pour regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #620 · Bag
Bag / accommodate
a405a7ca363c7c41bbda4bd2b976d8f7
Where is the accommodate regions situated on the object in this point clouds data?
- IoU
- 0.186
- Acc
- 0.660
- Precision
- 1.000
- Recall
- 0.186
- GT points
- 855
- Pred points
- 159
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the accommodate regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #622 · Bag
Bag / raise
5afe31025e8574ea8d6e12c39b2d5023
Where is the raise regions situated on the object in this point clouds data?
- IoU
- 0.011
- Acc
- 0.450
- Precision
- 0.011
- Recall
- 0.667
- GT points
- 18
- Pred points
- 1132
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the raise regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #623 · Bag
Bag / unlock
5afe31025e8574ea8d6e12c39b2d5023
Where is the unlock regions situated on the object in this point clouds data?
- IoU
- 0.000
- Acc
- 0.820
- Precision
- 0.000
- Recall
- 0.000
- GT points
- 273
- Pred points
- 95
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the unlock regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #624 · Bag
Bag / grab
5afca35479b347786f0abe366609662
Where is the grab regions situated on the object in this point clouds data?
- IoU
- 0.334
- Acc
- 0.510
- Precision
- 0.425
- Recall
- 0.608
- GT points
- 827
- Pred points
- 1183
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the grab regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #661 · Faucet
Faucet / grab
d1a20d867c2b8f459cd6e2005048d293
Please find me a functional regions on this object that can be used to grab.
- IoU
- 0.318
- Acc
- 0.618
- Precision
- 0.565
- Recall
- 0.421
- GT points
- 866
- Pred points
- 646
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please find me a functional regions on this object that can be used to grab. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #662 · Faucet
Faucet / unlock
d1a20d867c2b8f459cd6e2005048d293
Please find me a functional regions on this object that can be used to unlock.
- IoU
- 0.521
- Acc
- 0.938
- Precision
- 0.863
- Recall
- 0.568
- GT points
- 243
- Pred points
- 160
Model text: system|> You are a helpful assistant. <|end|> <|user|> Please find me a functional regions on this object that can be used to unlock. <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)
sample #782 · Scissors
Scissors / grab
f4897c9b20e811f1309c3ff4f31971fa
Where is the grab regions situated on the object in this point clouds data?
- IoU
- 0.028
- Acc
- 0.512
- Precision
- 0.060
- Recall
- 0.051
- GT points
- 572
- Pred points
- 486
Model text: system|> You are a helpful assistant. <|end|> <|user|> Where is the grab regions situated on the object in this point clouds data? <|end|> <|assistant|> Sure,it is <|placeholder4|> .
download point cloud + masks (.npz)