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

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

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 labelling pipeline for grasp-related tasks. This pipeline combines vision-language models (VLMs) for semantic event detection with classical trajectory analysis for precise temporal alignment, requiring VLM inference only on one single demo among repeating ones per task. Using the labelled data, we train a keypose-guided Diffusion Policy (DP) that exploits keypose conditioning to intervene demonstration distributions. We explore the possibility to apply this property for cross-embodiment transfer: candidate keyposes are sampled and filtered via a reachability map, steering the policy toward kinematically feasible keyposes for the target robot. As a preliminary feasibility study, experiments on two robomimic tasks show that the labelled data produces policies matching a standard DP baseline, and that reachability-filtered keypose conditioning may benefit zero-shot transfer on the multimodal insertion task when feasible candidates are available.

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