Author

Chang-Bo Yan

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Preprint Sep 2026

Learning Foresight without Explicit Trajectories for 3D Diffusion Policies

3D diffusion policies are strong at generating geometrically grounded actions from current observations, but successful manipulation requires not only knowing what motion is feasible now, but also anticipating where the interaction is heading. Existing policies largely leave such foresight to emerge implicitly from act...

Zhong-Bo Zhang, Zai-Bin Zhang, Yi-Fan Wang et al. · 0 citations

Preprint Sep 2026

Attention-DP3: Spatially Object-aware 3D Diffusion Policy via Geometry-aligned Attentional Conditioning

Attention-DP3 is proposed, a spatially object-aware 3D diffusion policy that injects object-level geometric cues via attention while keeping the DP3 diffusion backbone unchanged and shows consistent improvements over DP3, achieving state-of-the-art performance across benchmarks.

Chang-Bo Yan, Zhong-Bo Zhang, Zai-Bin Zhang et al. · 0 citations