Pith Number

pith:6HXPIGK7

pith:2026:6HXPIGK7KW5HIUIKZNVDNQDNVX

not attested not anchored not stored refs pending

AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondence

Huazhe Xu, Jiawei Zhang, Kaizhe Hu, Yingqian Huang, Yuanchen Ju, Zhengrong Xue

By matching semantic keypoints across 3D meshes, AffordGen generates varied manipulation trajectories that let trained policies succeed on objects never seen in the original data.

arxiv:2604.10579 v2 · 2026-04-12 · cs.RO · cs.AI

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\usepackage{pith}
\pithnumber{6HXPIGK7KW5HIUIKZNVDNQDNVX}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Experiments in simulation and the real world show that policies trained with AffordGen achieve high success rates and enable zero-shot generalization to truly unseen objects, significantly improving data efficiency in robot learning.

C2weakest assumption

That semantic correspondence of meaningful keypoints across large-scale 3D meshes can reliably generate new, valid, and useful robot manipulation trajectories that transfer to real-world closed-loop control.

C3one line summary

AffordGen generates affordance-aware manipulation demonstrations from 3D mesh correspondences to train policies with zero-shot generalization to novel objects.

Receipt and verification

First computed	2026-06-02T01:03:46.920492Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f1eef4195f55ba74510acb6a36c06dadc93071b02a1d55f53b7a7e8924ffe8cb

Aliases

arxiv: 2604.10579 · arxiv_version: 2604.10579v2 · doi: 10.48550/arxiv.2604.10579 · pith_short_12: 6HXPIGK7KW5H · pith_short_16: 6HXPIGK7KW5HIUIK · pith_short_8: 6HXPIGK7

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/6HXPIGK7KW5HIUIKZNVDNQDNVX \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: f1eef4195f55ba74510acb6a36c06dadc93071b02a1d55f53b7a7e8924ffe8cb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "19c3a5fbf60d8c0565e9e2f28fb910b11b64c6d05d1187e6eb78901eef786237",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-12T10:56:31Z",
    "title_canon_sha256": "f33de1321f9d90ccce85213fb86c46f772700d90122f38e76c4456ebd2524767"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.10579",
    "kind": "arxiv",
    "version": 2
  }
}