JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
Generalizable coarse-to-fine robot manipulation via language-aligned 3d keypoints.arXiv preprint arXiv:2509.23575, 2025
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Point Tracking Improves World Action Models
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.