New paper! We show that by using keypoint-based image representation, robot policies become robust to different object types and background changes. We call this method Prescriptive Point Priors for robot Policies or P3-PO in short. Full project is here: point-priors.github.io

P3-PO uses a one time “point prescription” by a human to identify key points. After this it uses semantic correspondence to find the same points on different instances of the same object.