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.
Prism-dp: Spatial pose-based observations for diffusion-policies via segmentation, mesh generation, and pose tracking.arXiv preprint arXiv:2504.20359, 2025
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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.