AffordCraft: Scalable Construction of Task-Ready Simulation Assets from Single Images
Robot learning in simulation depends on the objects the simulator offers. Many tasks need objects with separate parts, joints that allow the required motion, and physical properties that remain valid under contact. Existing methods recover this structure anew for every image: generative models predict parts and joints that mostly fail to settle or move in simulation, and general-purpose agents need a long session of model calls for each photograph. AffordCraft builds such an asset from a single RGB image and a task instruction by retrieval instead of generation: it locates the object and the part to operate, selects a matching entry from a library of articulated assets, and fits it to the...
| Authors | Haoyun Yang, Xueyang Zhou, Ziyi Xie et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 October 2026 |
| Last updated at source | 5 October 2026 |
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