  When humans perform a task with an articulated object, they interact with the
object only in a handful of ways, while the space of all possible interactions
is nearly endless. This is because humans have prior knowledge about what
interactions are likely to be successful, i.e., to open a new door we first try
the handle. While learning such priors without supervision is easy for humans,
it is notoriously hard for machines. In this work, we tackle unsupervised
learning of priors of useful interactions with articulated objects, which we
call interaction modes. In contrast to the prior art, we use no supervision or
privileged information; we only assume access to the depth sensor in the
simulator to learn the interaction modes. More precisely, we define a
successful interaction as the one changing the visual environment substantially
and learn a generative model of such interactions, that can be conditioned on
the desired goal state of the object. In our experiments, we show that our
model covers most of the human interaction modes, outperforms existing
state-of-the-art methods for affordance learning, and can generalize to objects
never seen during training. Additionally, we show promising results in the
goal-conditional setup, where our model can be quickly fine-tuned to perform a
given task. We show in the experiments that such affordance learning predicts
interaction which covers most modes of interaction for the querying articulated
object and can be fine-tuned to a goal-conditional model. For supplementary:
https://actaim.github.io.
