Manipulator-Independent Representations for 

Visual Imitation

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Trajectory Tracking

Human Hand Demonstration

Pick-up Stick Demonstration

Real Robot Demonstration

Invisible Arm Demonstration

Jaco Hand Demonstration

 TSNE - MIR

More Qualitative Results

Stack and Unstack with Jaco Hand

Stack and Unstack with Invisible Arm

Stack and avoid Obstacle with Jaco Hand

Failure Cases

Heavy occlusion

Gripper is not releasing the object