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    "story_id": "mp-2026-09-28-006",
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    "edition_id": "mp-2026-09-28-morning-0081",
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    "section": "robotics",
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    "headline": "One Demonstration Survived a New Object and a Shove",
    "slug": "one-demonstration-survived-a-new-object-and-a-shove",
    "dek": "POIL tracked functional 3D points and drove them with a stable closed-loop controller.",
    "summary": "POIL tracked functional 3D points and drove them with a stable closed-loop controller.",
    "body_text": "POIL represents the functional part of an object as a set of 3D points used both to transfer a demonstrated trajectory and to control execution. A multimodal model grounds the relevant part, point correspondences transfer the motion across pose and object-category changes, and multi-view tracking closes the loop. The controller projects per-point velocities into one rigid-body twist and carries a convergence argument under a rigid-object assumption. Simulation and real-robot experiments show transfer from one demonstration and recovery from disturbances, within the tested objects and scenes.",
    "why_it_matters": "POIL tracked functional 3D points and drove them with a stable closed-loop controller.",
    "limitations": [],
    "importance": 8,
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    "first_published_at": "2026-09-28T09:00:00.000-04:00",
    "modified_at": "2026-09-28T09:00:00.000-04:00",
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    "tags": [
      "imitation learning",
      "manipulation",
      "stable control"
    ],
    "image_url": null,
    "corrections": []
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  "sources": [
    {
      "source_id": "source-2026-09-28-006",
      "title": "arXiv preprint 2609.30404",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.30404",
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      "published_at": "2026-09-24T14:07:38.000-04:00",
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  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
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  "cite_this_report": {
    "title": "One Demonstration Survived a New Object and a Shove",
    "publisher": "The Machine Press",
    "published_at": "2026-09-28T09:00:00.000-04:00",
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