A robot policy that propagates a retrieved contact point through predicted object poses, producing a time-varying affordance trajectory, improves manipulation success over static affordance and pose-only baselines.
Any6d: Model-free 6d pose estimation of novel objects
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AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation
A robot policy that propagates a retrieved contact point through predicted object poses, producing a time-varying affordance trajectory, improves manipulation success over static affordance and pose-only baselines.