TORA distills topological structure from pretrained 3D encoders into flow-matching backbones via cosine matching and CKA loss, delivering up to 6.9x faster convergence and better accuracy on 3D shape assembly benchmarks with zero inference overhead.
arXiv preprint arXiv:2506.05282 (2025) 2
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LAMP extracts continuous 3D inter-object transformations from image editing to serve as geometry-aware priors for zero-shot open-world robotic manipulation.
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TORA: Topological Representation Alignment for 3D Shape Assembly
TORA distills topological structure from pretrained 3D encoders into flow-matching backbones via cosine matching and CKA loss, delivering up to 6.9x faster convergence and better accuracy on 3D shape assembly benchmarks with zero inference overhead.
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LAMP: Lift Image-Editing as General 3D Priors for Open-world Manipulation
LAMP extracts continuous 3D inter-object transformations from image editing to serve as geometry-aware priors for zero-shot open-world robotic manipulation.