نسخة أولية وصول مفتوح
KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization
Generalization in robotic manipulation requires policies to perform tasks across diverse unseen object instances that vary in shape, size, and pose. However, conventional behavior cloning (BC) methods often overfit to instance-specific geometry and appearance, limiting transfer to novel objects. We introduce KeyGen, a …