We present a novel visual servoing framework for controlling a robotic manipulator in configuration space using only natural visual features. To train our data-driven keypoint detector, we attach ArUco markers along the robot body, use their centers as keypoint labels, and apply image inpainting to remove the markers and reconstruct the occluded regions. This produces automatically labeled, markerless robot images without requiring accurate camera calibration or robot models. At runtime, a second inpainting model reconstructs robot regions that are partially occluded, enabling continuous keypoint detection. An Unscented Kalman Filter (UKF) further improves temporal consistency and robustness of the keypoint estimates. We demonstrate successful model-free, vision-based control using natural robot features under both full visibility and partial occlusion. To show broader applicability, we also extend the perception pipeline to two-module and three-module soft origami arms and qualitatively evaluate keypoint detection and temporal tracking on these platforms.

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