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.
Learning environment-aware affordance for 3d articulated object manipulation under occlusions.Advances in Neural Information Processing Systems, 36:60966–60983, 2023
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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.