KOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulation
En Yen Puang,Keng Peng Tee,Wei Jing,En Yen Puang,Keng Peng Tee,Wei Jing
We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained model could be directly used for real-world visual servoing tasks. KOVIS consists of two networks. The first keypoint network learns the keypoint representatio...
