@article{rtaffordanceaffordancesareversatile,
  title = {RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation},
  author = {Soroush Nasiriany and Sean Kirmani and Tianli Ding and Laura Smith and Yuke Zhu and Danny Driess and Dorsa Sadigh and Ted Xiao},
  year = {2024},
  eprint = {2411.02704},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2411.02704v1},
}