Before revision:  Our evaluation shows that our approach learns to consistently predict visual keypoints on objects , and can easily adapt a kinematic chain to  the object grasped in various configurations, from a few seconds of  data.
After revision:  Our evaluation shows that our approach learns to consistently predict visual keypoints on objects in the manipulator's hand, and thus can easily facilitate learning an extended kinematic chain to the object grasped in various configurations, from a few seconds of data.