Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation

This is a repository containing the code for the paper Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation.

Instructions

We have provided the instructions for installation and data collection and code execution at the respective links.

Dataset

We have made the data used for Point Policy publicly available here.

Bibtex

If you find this work useful, please cite the paper using the following bibtex:

@article{haldar2025point,
  title={Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation},
  author={Haldar, Siddhant and Pinto, Lerrel},
  journal={arXiv preprint arXiv:2502.20391},
  year={2025}
}

Queries/Comments/Discussions

We welcome any queries, comments or discussions on the paper. Please feel free to open an issue on this repository or reach out to siddhanthaldar@nyu.edu.