Zero-shot robot skill transfer is achieved by grounding task-axis controllers in semantic keypoints matched with SD-DINO across object instances.
Generalizing object-centric task-axes controllers using keypoints,
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Grounded Task Axes: Zero-Shot Semantic Skill Generalization via Task-Axis Controllers and Visual Foundation Models
Zero-shot robot skill transfer is achieved by grounding task-axis controllers in semantic keypoints matched with SD-DINO across object instances.