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Image with query points (a) Localization and properties (b) Affordance and action (c) Potential interaction Movable: 1 hand Rigid: Yes Movable: 2 hands Rigid: No Action: Pull Movable: No Figure 1. Given a single image and a set of query points, our approach predicts: (a) whether the object at the location can be moved , its rigidity and articulation class , and location ; (b) an affordance and action ; and (c) potential 3D interaction for articulated objects. This ability can assist intelligent agents to better manipulate objects or explore the 3D scene.