Author

Haoyang Du

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Preprint Aug 2026

AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation

Affordance-guided imitation learning has shown impressive performance in robotic manipulation tasks by compressing visual perception into task-specific geometric constraints (e.g., fixed contact points). However, the commonly used static affordances can become inconsistent in precision-critical tasks or under object lo...

Gao-Yuan Wu, Ziyu Shan, Hao-Yang Du et al. · 0 citations