license: mit
language:
- en
tags:
- computer-vision
- robotics
- robot-learning
Dataset Card for 2HANDS
2HANDS is the 2-Handed Affordance + Narration DataSet, consisting of a large number of unimanual and bimanual object affordance segmentation masks and task narrations as affordance class-labels.
- Project Site https://sites.google.com/view/2handedafforder (ICCV 2025)
- Paper: https://arxiv.org/abs/2503.09320
- Repository: https://github.com/pearl-robot-lab/2HandedAfforder
Egocentric images and narrations/verb classes are derived from the EPIC-KITCHENS dataset and EPIC-VISOR annotations [1, 2].
[1] Damen, D. et al. (2018). Scaling egocentric vision: The epic-kitchens dataset. ECCV 2018
[2] Darkhalil, A. et al. (2022). Epic-kitchens visor benchmark: Video segmentations and object relations. NeurIPS 2022
Citation
You may cite our work as:
Heidinger, M.*, Jauhri, S.*, Prasad, V., & Chalvatzaki, G. (2025). 2handedafforder: Learning precise actionable bimanual affordances from human videos. ICCV 2025
BibTeX:
@misc{heidinger20252handedafforderlearningpreciseactionable,
title={2HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videos},
author={Marvin Heidinger and Snehal Jauhri and Vignesh Prasad and Georgia Chalvatzaki},
year={2025},
eprint={2503.09320},
archivePrefix={arXiv},
primaryClass={cs.CV},
}