Jul 2026
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
Geometry-Aware Motion Latents is introduced, which learns discrete motion latent codes by predicting how point clouds evolve during manipulation rather than reconstructing visual observations, demonstrating that effective motion latents for robot control can better emerge from understanding motion through its three-dimensional effects rather than pixel-level patterns.
Yunchao Zhang, Yijia Weng, Ruizhe Liu et al.
· arXiv.org · 0 citations