arxivcs.ROcs.AI2026-07-06
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
Yunchao Zhang, Yijia Weng, Ruizhe Liu, Ming Hu, Leonidas Guibas, Yanchao Yang
Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-dimensional geometric transformations. Here, we introduce GeoMoLa (Geometry-Aware Motion Latents), wh…