Abstract: A method for performing a task by a robotic device includes mapping a group of task image pixel descriptors associated with a first group of pixels in a task image of a task environment to a group of teaching image pixel descriptors associated with a second group of pixels in a teaching image based on positioning the robotic device within the task environment. The method also includes determining a relative transform between the task image and the teaching image based on mapping the plurality of task image pixel descriptors. The relative transform indicates a change in one or more of points of 3D space between the task image and the teaching image. The method also includes performing the task associated with the set of parameterized behaviors based on updating one or more parameters of a set of parameterized behaviors associated with the teaching image based on determining the relative transform.

Abstract: A method for controlling a robotic device is presented. The method includes positioning the robotic device within a task environment. The method also includes mapping descriptors of a task image of a scene in the task environment to a teaching image of a teaching environment. The method further includes defining a relative transform between the task image and the teaching image based on the mapping. Furthermore, the method includes updating parameters of a set of parameterized behaviors based on the relative transform to perform a task corresponding to the teaching image.