Hangxing Zhang

Zhengdong Hong, Shenrui Wu, Haozhe Cui et al.

3D policy learning promises superior generalization and cross-embodiment transfer, but progress has been hindered by training instabilities and severe overfitting, precluding the adoption of powerful 3D perception models. In this work, we systematically diagnose these failures, identifying the omission of 3D data augmentation and the adverse effects of Batch Normalization as primary causes. We propose a new architecture coupling a scalable transformer-based 3D encoder with a diffusion decoder, engineered specifically for stability at scale and designed to leverage large-scale pre-training. Our approach significantly outperforms state-of-the-art 3D baselines on challenging manipulation benchmarks, establishing a new and robust foundation for scalable 3D imitation learning. Project Page: https://r3d-policy.github.io/

Hanqing Wang, Zhenhao Zhang, Kaiyang Ji et al.

3D object affordance grounding aims to predict the touchable regions on a 3d object, which is crucial for human-object interaction, human-robot interaction, embodied perception, and robot learning. Recent advances tackle this problem via learning from demonstration images. However, these methods fail to capture the general affordance knowledge within the image, leading to poor generalization. To address this issue, we propose to use text-to-image diffusion models to extract the general affordance knowledge because we find that such models can generate semantically valid HOI images, which demonstrate that their internal representation space is highly correlated with real-world affordance concepts. Specifically, we introduce the DAG, a diffusion-based 3d affordance grounding framework, which leverages the frozen internal representations of the text-to-image diffusion model and unlocks affordance knowledge within the diffusion model to perform 3D affordance grounding. We further introduce an affordance block and a multi-source affordance decoder to endow 3D dense affordance prediction. Extensive experimental evaluations show that our model excels over well-established methods and exhibits open-world generalization.