PASG automatically extracts object keypoints and axes and couples them through a fine-tuned vision-language model to task semantics, claiming manipulation performance comparable to manual annotations.
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PASG: A Closed-Loop Framework for Automated Geometric Primitive Extraction and Semantic Anchoring in Robotic Manipulation
PASG automatically extracts object keypoints and axes and couples them through a fine-tuned vision-language model to task semantics, claiming manipulation performance comparable to manual annotations.