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simmediumgraspingmetric · varies
RAGNet: Large-scale Reasoning-based Affordance Segmentation Benchmark towards General Grasping
Description
General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance prediction data, leading to considerable concern about open-world effectiveness. To address this limitation, we build a large-scale grasping-oriented affordance segmentation benchmark with human-like instructions, named RAGNet. It contains 273k images, 180 cat