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  "abstract": "Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sketch-based robotic control. One of the methods includes receiving data representing a sketch of a scene in a workcell, wherein the sketch represents a goal state to be achieved by a physical robot and includes one or more lines representing an object to be manipulated in the workcell. The sketch of the scene is provided as input to a trained machine learning model that implements a policy that maps sketches to actions required to achieve the goal state. The robot executes the actions generated by the machine learning model based on the sketch to manipulate an object in the workcell according to the actions.",
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    "SCHAAL STEFAN",
    "SUNDARESAN PRIYA ANANDHI"
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  "source_date": "2026-03-26",
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  "title": "Sketch-based robotic policy for manipulation tasks",
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