Yupu Lu

Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer

Yupu Lu, Hang Xu, Yizhou Chen, Jia Pan

Keypose-based manipulation decomposes tasks into critical waypoints to simplify policy learning for long-horizon tasks, but existing approaches rely on task-specific heuristics or manual annotation to extract keyposes from demonstrations. We present an automatic trajectory labell…Read more