Attention-DP3:基于几何对齐注意力条件的空间物体感知 3D 扩散策略

HuggingFace Daily Papers(社区热门论文)·2026-09-10 08:00·5天前
AI 导读

Attention-DP3 是一种空间物体感知的 3D 扩散策略,通过注意力注入物体级几何线索,同时保持 DP3 扩散主干不变。它先用开放词汇 2D 分割将目标掩码提升到 3D,再通过 Tri-field Attentional Conditioning 构建 targetness、intra-target saliency 和 backgroundness 三个场。

HuggingFace Daily Papers(社区热门论文)
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Attention-DP3:基于几何对齐注意力条件的空间物体感知 3D 扩散策略

2026-09-10 08:00· 5天前
AI 导读

Attention-DP3 是一种空间物体感知的 3D 扩散策略,通过注意力注入物体级几何线索,同时保持 DP3 扩散主干不变。它先用开放词汇 2D 分割将目标掩码提升到 3D,再通过 Tri-field Attentional Conditioning 构建 targetness、intra-target saliency 和 backgroundness 三个场。

3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target objects may be partially occluded or tightly intermingled with visually similar distractors. As a result, standard 3D diffusion policies often struggle to localize and exploit task-relevant geometry as scene complexity grows. We propose Attention-DP3, a spatially object-aware 3D diffusion policy that injects object-level geometric cues via attention while keeping the DP3 diffusion backbone unchanged. Our pipeline performs open-vocabulary 2D segmentation on RGB images, then lifts predicted target masks into 3D using calibrated camera geometry to obtain object-centric geometric priors. We incorporate these cues through Tri-field Attentional Conditioning, which constructs three complementary fields: (i) a targetness field to anchor the target object, (ii) an intra-target saliency field to emphasize task-relevant geometry within the target, and (iii) a backgroundness field to suppress distractors and clutter. Experiments on Adroit, DexArt, MetaWorld, and the real-world SO101 platform show consistent improvements over DP3, achieving state-of-the-art performance across benchmarks. Notably, as distractor objects increase, DP3 drops sharply, whereas Attention-DP3 remains stable and outperforms DP3 by up to 31% under heavy clutter. The code is publicly available at https://github.com/zhangzhongbo2213/Attention-DP3.

来源:HuggingFace Daily Papers(社区热门论文)· arxiv.org