@article{anoveltaskdrivendiffusionbasedpolicywith,
  title = {A Novel Task-Driven Diffusion-Based Policy with Affordance Learning for Generalizable Manipulation of Articulated Objects},
  author = {Hao Zhang and Zhen Kan and Weiwei Shang and Yongduan Song},
  year = {2025},
  eprint = {2509.14939},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.14939},
}