arxivcs.RO2026-07-13
Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
Dian Wang, Jisang Park, Xiaomeng Xu, Han Zhang, Shuran Song, Jeannette Bohg
Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while transport, upright-object handling, and whole-body coordination are better represented in a base-aligned frame. However, modern diffusion-based visuomotor policies typicall…