PRISM trains a diffusion policy on segmented point-cloud object tokens fused with joint states via cross-attention, reporting 82.0 percent average success across six RoboTwin tasks versus 58.4 percent for DP3 and 22.3 percent for DP.
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PRISM: Pointcloud Reintegrated Inference via Segmentation and Cross-attention for Manipulation
PRISM trains a diffusion policy on segmented point-cloud object tokens fused with joint states via cross-attention, reporting 82.0 percent average success across six RoboTwin tasks versus 58.4 percent for DP3 and 22.3 percent for DP.