AffordCraft: Scalable Construction of Task-Ready Simulation Assets from Single Images

Excerpt

arXiv:2610.06643v1 Announce Type: cross Abstract: 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 photograp