ImaginationPolicy: Towards Generalizable, Precise and Reliable End-to-End Policy for Robotic Manipulation
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| Format: | Preprint |
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2025
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| _version_ | 1866914056162508800 |
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| author | Lu, Dekun Gao, Wei Jia, Kui |
| author_facet | Lu, Dekun Gao, Wei Jia, Kui |
| contents | End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end-to-end learning mitigates key limitations such as information loss between modules and feature misalignment caused by isolated optimization targets. Despite these advantages, existing end-to-end neural networks for robotic manipulation--including those based on large VLM/VLA models--remain insufficiently performant for large-scale practical deployment. In this paper, we take a step towards an end-to-end manipulation policy that is generalizable, accurate and reliable. To achieve this goal, we propose a novel Chain of Moving Oriented Keypoints (CoMOK) formulation for robotic manipulation. Our formulation is used as the action representation of a neural policy, which can be trained in an end-to-end fashion. Such an action representation is general, as it extends the standard end-effector pose action representation and supports a diverse set of manipulation tasks in a unified manner. The oriented keypoint in our method enables natural generalization to objects with different shapes and sizes, while achieving sub-centimeter accuracy. Moreover, our formulation can easily handle multi-stage tasks, multi-modal robot behaviors, and deformable objects. Extensive simulated and hardware experiments demonstrate the effectiveness of our method. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2509_20841 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ImaginationPolicy: Towards Generalizable, Precise and Reliable End-to-End Policy for Robotic Manipulation Lu, Dekun Gao, Wei Jia, Kui Robotics Artificial Intelligence Machine Learning End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end-to-end learning mitigates key limitations such as information loss between modules and feature misalignment caused by isolated optimization targets. Despite these advantages, existing end-to-end neural networks for robotic manipulation--including those based on large VLM/VLA models--remain insufficiently performant for large-scale practical deployment. In this paper, we take a step towards an end-to-end manipulation policy that is generalizable, accurate and reliable. To achieve this goal, we propose a novel Chain of Moving Oriented Keypoints (CoMOK) formulation for robotic manipulation. Our formulation is used as the action representation of a neural policy, which can be trained in an end-to-end fashion. Such an action representation is general, as it extends the standard end-effector pose action representation and supports a diverse set of manipulation tasks in a unified manner. The oriented keypoint in our method enables natural generalization to objects with different shapes and sizes, while achieving sub-centimeter accuracy. Moreover, our formulation can easily handle multi-stage tasks, multi-modal robot behaviors, and deformable objects. Extensive simulated and hardware experiments demonstrate the effectiveness of our method. |
| title | ImaginationPolicy: Towards Generalizable, Precise and Reliable End-to-End Policy for Robotic Manipulation |
| topic | Robotics Artificial Intelligence Machine Learning |
| url | https://arxiv.org/abs/2509.20841 |