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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/rcg32v1vl6jlbdkpdqry7kejk
- Original: https://arxiv.org/abs/2604.11674

## Summary

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.