KIL using foundation model keypoints reaches 75% success on five manipulation tasks, beating RGB (47%) but matching S2-diffusion (73%), with generalization tests on unseen objects via over 2000 real-world rollouts.
Correspondence- oriented imitation learning: Flexible visuomotor control with 3d con- ditioning,
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On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning
KIL using foundation model keypoints reaches 75% success on five manipulation tasks, beating RGB (47%) but matching S2-diffusion (73%), with generalization tests on unseen objects via over 2000 real-world rollouts.