AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation

arXiv:2609.22332 · cs.RO, cs.AI, cs.CV · Submitted 2026-09-16 · Read on arXiv

cs.RO, cs.AI, cs.CV

Submitted: 2026-09-16

Updated: 2026-09-22

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Affordance — 9× in this paper · explained in 1 episode
• Transformer — 1× in this paper · explained in 2 episodes

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