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

3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target objects may be partially occluded or tightly intermingled with visually similar distractors. As a result, standard 3D diffusion policies often struggle to localize and exploit task-relevant geometry as scene com...

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