AffordGen generates affordance-aware manipulation demonstrations from 3D mesh correspondences to train policies with zero-shot generalization to novel objects.
3D Mesh Dataset Pre-processing To obtain a sufficient number of meshes for a specific cat- egory, we leveraged an existing 3D generative model [27]
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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.