A method for generating maneuvers for mating connectors of two different devices. (800, 900) comprising receiving a source image and downsampling the source image one or more times to generate a first image; providing the first image to a segmentation model to generate a segmentation map representing distinct regions (432, 732) of the first image; providing (802, 906) the first image and the segmentation map as inputs to the feature extraction model to generate feature data, wherein the first image depicts a first portion of a first device and a second portion of a second device, wherein the feature data includes first coordinates representing key points of the first device depicted in the first image and includes second coordinates representing key points of the second device depicted in the first image; obtaining (804, 908), from one or more sensors onboard the first device, position data indicating a position in three-dimensional space of a first connector of the first device, wherein the first connector is disposed on the first portion of the first device, wherein the position data indicates the position in a reference frame that is associated with the first device and is independent of the second device; performing a comparison of the second coordinates representing the key points of the second device to known geometry of the second device; modifying the feature data based on the comparison; providing (806, 914) the feature data and the position data as input to a trained autonomous agent to generate a proposed maneuver to mate the first connector with a second connector of the second device; and commanding repositioning of the first portion of the first device based on the proposed maneuver. receiving a source image and downsampling the source image one or more times to generate a first image; providing the first image to a segmentation model to generate a segmentation map representing distinct regions (432, 732) of the first image; providing (802, 906) the first image and the segmentation map as inputs to the feature extraction model to generate feature data, wherein the first image depicts a first portion of a first device and a second portion of a second device, wherein the feature data includes first coordinates representing key points of the first device depicted in the first image and includes second coordinates representing key points of the second device depicted in the first image; obtaining (804, 908), from one or more sensors onboard the first device, position data indicating a position in three-dimensional space of a first connector of the first device, wherein the first connector is disposed on the first portion of the first device, wherein the position data indicates the position in a reference frame that is associated with the first device and is independent of the second device; performing a comparison of the second coordinates representing the key points of the second device to known geometry of the second device; modifying the feature data based on the comparison; providing (806, 914) the feature data and the position data as input to a trained autonomous agent to generate a proposed maneuver to mate the first connector with a second connector of the second device; and commanding repositioning of the first portion of the first device based on the proposed maneuver.