@article{affordsimascalabledatageneratorandbenchm,
  title = {AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation},
  author = {Mingyang Li and Haofan Xu and Haowen Sun and Xinzhe Chen and Sihua Ren and Liqi Huang and Xinyang Sui and Chenyang Miao and Jiawei Ye and Qiongjie Cui and Zeyang Liu and Xingyu Chen and Xuguang Lan},
  year = {2026},
  eprint = {2604.11674},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.11674},
}