Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies
Spatial Grafting is proposed, a versatile, lightweight spatial module that binds frozen reconstruction features to metric, robot-relative geometry and injects them into the flow-matching action expert through cross-attention without modifying the host's perceptual pathway, so the host retains the full benefit of its pr...
Ding-Sheng Liu, Yang-Zheng Wu, Mahboubeh Asadi et al.
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