P3-PO feeds robot policies human-prescribed semantic keypoints, propagated by correspondence and tracking, and reports strong generalization gains on real manipulation tasks.
Photorealistic text-to-image diffusion models with deep language understanding,
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P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies
P3-PO feeds robot policies human-prescribed semantic keypoints, propagated by correspondence and tracking, and reports strong generalization gains on real manipulation tasks.