FunCanon introduces functional object canonicalization with VLM affordances to create pose-aware action primitives for generalizable imitation learning in robotic manipulation.
Founda- tionpose: Unified 6d pose estimation and tracking of novel objects,
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FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation
FunCanon introduces functional object canonicalization with VLM affordances to create pose-aware action primitives for generalizable imitation learning in robotic manipulation.