Video-to-Image Affordance Grounding via Visual Conceptual Learning

Video-to-Image Affordance Grounding aims to localize object affordances in static images by learning from human demonstration videos. However, existing fully supervised methods rely on paired image-video inputs during both training and inference, which significantly limits their practicality in real-world scenarios. Conversely, weakly supervised approaches support video-free inference but often struggle to capture the most critical interaction features necessary for affordance learning. To overcome these limitations, we propose a novel two-stage framework, VCL. In the first stage, we adopt the standard fully supervised paradigm to train the model, enabling it to effectively extract meaningful interaction features from demonstration videos. In the second stage, these extracted features are conceptualized, and a conceptual module is introduced to map natural language instructions into the concept space. Our approach establishes a new paradigm for affordance learning from demonstrations, enabling the model to learn from video but perform precise text-conditioned inference. Experiments on two benchmark datasets show that our base model outperforms previous state-of-the-art methods, while our text-conditioned model achieves competitive performance without requiring paired video inputs during inference. Code will be released at https://github.com/Fanzy27/VCL.