A transformer 3D encoder plus diffusion decoder architecture, with 3D-specific augmentations, outperforms prior 3D policy methods on manipulation benchmarks by improving training stability.
arXiv preprint arXiv:2508.11002 (2025) 3
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R3D: Revisiting 3D Policy Learning
A transformer 3D encoder plus diffusion decoder architecture, with 3D-specific augmentations, outperforms prior 3D policy methods on manipulation benchmarks by improving training stability.