AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation. - Mingyang Li; Haofan Xu; Haowen Sun; Xinzhe Chen; Sihua Ren; Liqi Huang; Xinyang Sui; Chenyang Miao; Qiongjie Cui; Zeyang Liu 001; Xingyu Chen; Xuguang Lan (CoRR, 2026)