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affordance recognition 1image translation 1manipulation planning 1multimodal goal matching 1sim-to-real transfer 1

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cs.RO2026

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion

Solvi Arnold, Rin Karashima, Tadashi Adachi +2

The paper introduces a robot manipulation planning system that uses affordance detection and visual action-effect prediction to match robot actions with text‑based goals, and adds…