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Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation
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3D perceptual representations are well suited for robot manipulation as they easily encode occlusions and simplify spatial reasoning. Many manipulation tasks require high spatial precision in end-effector pose prediction, which typically demands high-resolution 3D feature grids that are computationally expensive to process. As a result, most manipulation policies operate directly in 2D, foregoing 3D inductive biases. In this paper, we introduce Act3D, a manipulation policy transformer that represents the robot's workspace using a 3D feature field with adaptive resolutions dependent on the task at hand. The model lifts 2D pre-trained features to 3D using sensed depth, and attends to them to compute features for sampled 3D points. It samples 3D point grids in a coarse to fine manner, featurizes them using relative-position attention, and selects where to focus the next round of point sampling. In this way, it efficiently computes 3D action maps of high spatial resolution. Act3D sets a new state-of-the-art in RL-Bench, an established manipulation benchmark, where it achieves 10% absolute improvement over the previous SOTA 2D multi-view policy on 74 RLBench tasks and 22% absolute improvement with 3x less compute over the previous SOTA 3D policy. We quantify the importance of relative spatial attention, large-scale vision-language pre-trained 2D backbones, and weight tying across coarse-to-fine attentions in ablative experiments. Code and videos are available on our project website: https://act3d.github.io/.
Forward citations
Cited by 7 Pith papers
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Differential Amplifier-Inspired AmpAttention for Multi-View Robotic Manipulation
AmpAttention and RVAF raise multi-view robotic manipulation success and cut training time by suppressing attention noise with a differential-amplifier-style mechanism plus a CMRR loss.
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4D Visual Pre-training for Robot Learning
A next-frame point-cloud diffusion pre-training method (FVP) improves DP3 and RDT-1B manipulation success rates on the paper's own tasks.
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Source Component Shift Adaptation via Offline Decomposition and Online Mixing Approach
The claimed result is that source-component-shift adaptation splits cleanly into offline component learning via EM and online mixing-weight updates, cutting cumulative test loss by up to 67.4%.
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Leveraging OS-Level Primitives for Robotic Action Management
Applying OS-style exception handling, context caching, and replay to robotic action slices raises success rates 7x to 24x and cuts execution steps up to 74% for repetitive manipulation tasks, without retraining the VLA model.
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