2 papers
cs.RO2026
Learning Foresight without Explicit Trajectories for 3D Diffusion Policies
Zhongbo Zhang, Zaibin Zhang, Yifan Wang +3
3D diffusion policies are strong at generating geometrically grounded actions from current observations, but successful manipulation requires not only knowing what motion is feasib…
cs.RO2026
Attention-DP3: Spatially Object-aware 3D Diffusion Policy via Geometry-aligned Attentional Conditioning
Changbo Yan, Zhongbo Zhang, Zaibin Zhang +3
3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target objects may be partially occluded or tightly intermingled with visually…