@article{thetreacheryofimagesbayesianscene,
  title = {The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation},
  author = {Jan Ole von Hartz and Eugenio Chisari and Tim Welschehold and Wolfram Burgard and Joschka Boedecker and Abhinav Valada},
  year = {2023},
  eprint = {2305.04718},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2305.04718v3},
}