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This research addresses critical training instabilities in 3D policy learning by introducing a novel architecture that couples transformer-based encoders with diffusion decoders to improve scalability and robustness. By diagnosing specific failure modes like the lack of 3D data augmentation and adverse Batch Normalization effects, the work establishes a stronger foundation for cross-embodiment transfer in robotic manipulation tasks.
R3D: Revisiting 3D Policy Learning
arXiv:2604.15281v2 Announce Type: replace-cross Abstract: 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/
Abstract: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: this https URL
Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO)
arXiv:2604.15281 [cs.CV]
(or arXiv:2604.15281v2 [cs.CV] for this version)
https://doi.org/10.48550/arXiv.2604.15281 Focus to learn more arXiv-issued DOI via DataCite
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