---
license: apache-2.0
tags:
- robotics
- affordance
- manipulation
- 3d-motion
- segmentation
---

# AFUN checkpoint

`afun.pt` is the released AFUN checkpoint (Table 3 model). It loads with the inference code in the
anonymous AFUN code repository; place it at `checkpoints/afun.pt` and run

```bash
python demo.py --checkpoint checkpoints/afun.pt
```

Backbone weights (Qwen3-VL-8B, SAM3, Sonata) download from Hugging Face on first use. SAM3 is gated:
request access at [facebook/sam3](https://huggingface.co/facebook/sam3) first.

Companion datasets: [AFUN](https://huggingface.co/datasets/afun-anonymous/AFUN),
[AFUN_eval](https://huggingface.co/datasets/afun-anonymous/AFUN_eval),
[AFUN_pool](https://huggingface.co/datasets/afun-anonymous/AFUN_pool).