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Act3D: Infinite Resolution Action Detection Transformer for Robotic Manipulation

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2026-03-10 16:30:46

raw text

Act3D Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation Theophile Gervet * , Zhou Xian * , Nikolaos Gkanatsios , Katerina Fragkiadaki Carnegie Mellon University ArXiv Code Act3D is a manipulation policy Transformer that casts 6-DoF keypose prediction as 3D detection with adaptive spatial computation Abstract 3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically demands high-resolution 3D feature grids that are computationally expensive to process. As a result, most manipulation policies operate directly in 2D, foregoing 3D inductive biases. We propose Act3D, a manipulation policy transformer that represents the robot's workspace using a 3D feature field with adaptive resolution. The model l...

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