Implementing MOKA in more complex robotic manipulation scenarios may present several limitations or challenges. One major challenge is the scalability of the approach to handle tasks that involve higher degrees of freedom or interactions with dynamic environments. The reliance on 2D image-based affordance representations may limit its applicability in scenarios where precise 3D spatial understanding is crucial for successful manipulation. Additionally, as task complexity increases, there may be difficulties in accurately predicting keypoints and waypoints for intricate motions or interactions involving multiple objects simultaneously. Ensuring robustness and reliability in real-world applications with varying environmental conditions and object configurations could also pose challenges for MOKA's implementation.