AffordGen generates affordance-aware manipulation demonstrations from 3D mesh correspondences to train policies with zero-shot generalization to novel objects.
Point Cloud Processing We follow the preprocessing pipeline for point cloud obser- vations as outlined in DP3 [36]
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AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondence
AffordGen generates affordance-aware manipulation demonstrations from 3D mesh correspondences to train policies with zero-shot generalization to novel objects.