{"paper":{"title":"Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Boce Hu, Dian Wang, Fangzhou Lin, Haojie Huang, Haotian Liu, Linfeng Zhao, Mingxi Jia, Robert Platt, Robin Walters, Si-Yuan Huang, Yu Qi, Zhang Ye","submitted_at":"2026-07-13T07:03:29Z","abstract_excerpt":"Representing manipulation actions as 2D trajectories in the camera plane provides a compact and interpretable basis for learning complex 3D manipulation policies. However, it also creates challenges from out-of-frame trajectories and limited precision. We propose Pix2Act, an imitation learning method that addresses these challenges by generating continuous image-space keypoint trajectories in each camera plane and losslessly recovering end-effector poses via triangulation. This reformulates high-dimensional 3D control as a simpler, more learnable 2D prediction problem. Crucially, it aligns obs"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.11167","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.11167/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}