FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation

In three linesFUNCanon breaks down long-horizon manipulation tasks into action sequences (actor-verb-object) and canonicalizes objects by functional affordances using VLM cues. FuncDiffuser, an object-centric and action-centric diffusion policy, learns on aligned data to generalize across object categories and enable cross-task behavior reuse.

Summary generated by Claude — human-verified