KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization

arXiv:2609.28818 · cs.RO, cs.AI · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Generalization — 19× in this paper · explained in 13 episodes
• Alignment — 10× in this paper · explained in 1 episode
• Point Clouds — 9× in this paper · explained in 2 episodes
• Robustness — 8× in this paper · explained in 5 episodes
• Benchmark — 7× in this paper · explained in 2 episodes
• Transformer — 6× in this paper · explained in 2 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• 3D Keypoint Detection — 4× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Actor — 3× in this paper · explained in 3 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Process — 2× in this paper · explained in 2 episodes
• Distribution Shift — 2× in this paper · explained in 5 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• RT-1: Robotics Transformer for Real-World Control at Scale
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
• RVT: Robotic View Transformer for 3D Object Manipulation
• BAKU: An Efficient Transformer for Multi-Task Policy Learning
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• LERF: Language Embedded Radiance Fields
• Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation
• D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
• GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
• One-Shot Imitation Learning
• Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
• Skeleton Merger: an Unsupervised Aligned Keypoint Detector
• Key-Grid: Unsupervised 3D Keypoints Detection using Grid Heatmap Features
• USIP: Unsupervised Stable Interest Point Detection from 3D Point Clouds
• SC3K: Self-supervised and Coherent 3D Keypoints Estimation from Rotated, Noisy, and Decimated Point Cloud Data
• Canonical Capsules: Self-Supervised Capsules in Canonical Pose
• Symmetry-Robust 3D Orientation Estimation
• ShapeNet: An Information-Rich 3D Model Repository
• Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection

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