A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.
Robo-abc: Affordance generalization beyond categories via semantic correspondence for robot manipulation
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HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.