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ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
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ReKep | Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang 1 , Chen Wang 1* , Yunzhu Li 2* , Ruohan Zhang 1 , Li Fei-Fei 1 1 Stanford University, 2 Columbia University * indicates equal contributions PDF arXiv Video tl;dr Code Large vision models and vision-language models can generate keypoint-based constraints, which can be optimized to achieve multi-stage, in-the-wild, bimanual, and reactive behaviors, without task-specific training or environment models. Abstract Representing robotic manipulation tasks as constraints that associate the robot and the environment is a promising way to encode desired robot behaviors. However, it remains unclear how to formulate the constraints such that they are 1) versatile to diverse tasks, 2) free of manual labeling, and 3) optimizable by off-the-sh...
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