GAP pre-trains the spatial adapter on a lightweight simulated proxy task with free object masks to generate repeatable geometric keypoints, yielding higher success rates than baselines in low-data robotic manipulation on RoboMimic and ManiSkill.
Dis- covery of latent 3d keypoints via end-to-end geometric reasoning,
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GAP: Geometric Anchor Pre-training for Data-Efficient Visuomotor Learning of Manipulation Tasks
GAP pre-trains the spatial adapter on a lightweight simulated proxy task with free object masks to generate repeatable geometric keypoints, yielding higher success rates than baselines in low-data robotic manipulation on RoboMimic and ManiSkill.