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AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation

AffordSim is a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation trajectory generation. Given a natural-language task description, it synthesizes scenes, generates affordance queries, and samples region-constrained grasps, then uses motion planning to filter executable candidates.

Part of the event: AffordSim: An Affordance-Aware Manipulation Data Generator and Benchmark

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