arXiv:2503.15371v2 Announce Type: replace-cross Abstract: Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-Induced Functional Transfer), which enables a robot to transfer complex object manipulation skills and constraints from a single human demonstration. Our approach addresses the challenge of skill acquisition and task execution by deriving geometric representations from demonstrations focusing on object-centric interactions. By leveraging the Functional Maps (F
Source: arXiv cs.LG — read the full report at the original publisher.