In case this work has provided some assistance in your research endeavors, your citation would be greatly appreciated.

@article{xu2025funcanon,

  title={Funcanon: Learning pose-aware action primitives via functional object canonicalization for generalizable robotic manipulation},

  author={Xu, Hongli and Zhang, Lei and Hu, Xiaoyue and Zhong, Boyang and Bai, Kaixin and M{\'a}rton, Zolt{\'a}n-Csaba and Bing, Zhenshan and Chen, Zhaopeng and Knoll, Alois Christian and Zhang, Jianwei},

  journal={arXiv preprint arXiv:2509.19102},

  year={2025}

}