Learning Keypoint Constraints from Visual Demonstrations for Safe Motion Planning
cs.RO
Submitted: 2026-10-13
Updated: 2026-10-13
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
- Constraint-Preserving Data Generation for Visuomotor Policy Learning
- DINOv2: Learning Robust Visual Features without Supervision
- TAPNext++: What's Next for Tracking Any Point (TAP)?
- Safety Beyond the Training Data: Robust Out-of-Distribution MPC via Conformalized System Level Synthesis
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