AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation
arXiv:2604.11674v4 Announce Type: replace-cross Abstract: Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream act…