@article{affordancebasedrobotmanipulationwithflow,
  title = {Affordance-based Robot Manipulation with Flow Matching},
  author = {Fan Zhang and Michael Gienger},
  year = {2024},
  eprint = {2409.01083},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2409.01083v4},
}