One-Policy-Fits-All: Geometry-Aware Action Latents for Cross-Embodiment Manipulation

Cross-embodiment manipulation is crucial for enhancing the scalability of robot manipulation and reducing the high cost of data collection. However, the significant differences between embodiments, such as variations in action spaces and structural disparities, pose challenges for joint training across multiple sources of data. To address this, we propose One-Policy-Fits-All (OPFA), a framework that enables learning a single, versatile policy across multiple embodiments. We first learn a Geometry-Aware Latent Representation (GaLR), which leverages 3D convolution networks and transformers to build a shared latent action space across different embodiments. Then we design a unified latent retargeting decoder that extracts embodiment-specific actions from the latent representations, without any embodiment-specific decoder tuning. OPFA enables end-to-end co-training of data from diverse embodiments, including various grippers and dexterous hands with arbitrary degrees of freedom, significantly improving data efficiency and reducing the cost of skill transfer. We conduct extensive experiments across 11 different end-effectors. The results demonstrate that OPFA significantly improves policy performance in diverse settings by leveraging heterogeneous embodiment data. For instance, cross-embodiment co-training can improve success rates by more than 50% compared to single-source training. Moreover, by adding only a few demonstrations from a new embodiment (e.g., eight), OPFA can achieve performance comparable to that of a well-trained model with 72 demonstrations.

DexImit: Learning Bimanual Dexterous Manipulation from Monocular Human Videos

Data scarcity fundamentally limits the generalization of bimanual dexterous manipulation, as real-world data collection for dexterous hands is expensive and labor-intensive. Human manipulation videos, as a direct carrier of manipulation knowledge, offer significant potential for scaling up robot learning. However, the substantial embodiment gap between human hands and robotic dexterous hands makes direct pretraining from human videos extremely challenging. To bridge this gap and unleash the potential of large-scale human manipulation video data, we propose DexImit, an automated framework that converts monocular human manipulation videos into physically plausible robot data, without any additional information. DexImit employs a four-stage generation pipeline: (1) reconstructing hand-object interactions from arbitrary viewpoints with near-metric scale; (2) performing subtask decomposition and bimanual scheduling; (3) synthesizing robot trajectories consistent with the demonstrated interactions; (4) comprehensive data augmentation for zero-shot real-world deployment. Building on these designs, DexImit can generate large-scale robot data based on human videos, either from the Internet or video generation models. DexImit is capable of handling diverse manipulation tasks, including tool use (e.g., cutting an apple), long-horizon tasks (e.g., making a beverage), and fine-grained manipulations (e.g., stacking cups).

Robo3R: Enhancing Robotic Manipulation with Accurate Feed-Forward 3D Reconstruction

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models lack the precision and metric consistency required for physical interaction. We introduce Robo3R, a feed-forward, manipulation-ready 3D reconstruction model that predicts accurate, metric-scale scene geometry directly from RGB images and robot states in real time. Robo3R jointly infers scale-invariant local geometry and relative camera poses, which are unified into the scene representation in the canonical robot frame via a learned global similarity transformation. To meet the precision demands of manipulation, Robo3R employs a masked point head for sharp, fine-grained point clouds, and a keypoint-based Perspective-n-Point (PnP) formulation to refine camera extrinsics and global alignment. Trained on Robo3R-4M, a curated large-scale synthetic dataset with four million high-fidelity annotated frames, Robo3R consistently outperforms state-of-the-art reconstruction methods and depth sensors. Across downstream tasks including imitation learning, sim-to-real transfer, grasp synthesis, and collision-free motion planning, we observe consistent gains in performance, suggesting the promise of this alternative 3D sensing module for robotic manipulation.

Diff$^2$I2P: Differentiable Image-to-Point Cloud Registration with Diffusion Prior

Learning cross-modal correspondences is essential for image-to-point cloud (I2P) registration. Existing methods achieve this mostly by utilizing metric learning to enforce feature alignment across modalities, disregarding the inherent modality gap between image and point data. Consequently, this paradigm struggles to ensure accurate cross-modal correspondences. To this end, inspired by the cross-modal generation success of recent large diffusion models, we propose Diff$^2$I2P, a fully Differentiable I2P registration framework, leveraging a novel and effective Diffusion prior for bridging the modality gap. Specifically, we propose a Control-Side Score Distillation (CSD) technique to distill knowledge from a depth-conditioned diffusion model to directly optimize the predicted transformation. However, the gradients on the transformation fail to backpropagate onto the cross-modal features due to the non-differentiability of correspondence retrieval and PnP solver. To this end, we further propose a Deformable Correspondence Tuning (DCT) module to estimate the correspondences in a differentiable way, followed by the transformation estimation using a differentiable PnP solver. With these two designs, the Diffusion model serves as a strong prior to guide the cross-modal feature learning of image and point cloud for forming robust correspondences, which significantly improves the registration. Extensive experimental results demonstrate that Diff$^2$I2P consistently outperforms SoTA I2P registration methods, achieving over 7% improvement in registration recall on the 7-Scenes benchmark.

MVPaint: Synchronized Multi-View Diffusion for Painting Anything 3D

Texturing is a crucial step in the 3D asset production workflow, which enhances the visual appeal and diversity of 3D assets. Despite recent advancements in Text-to-Texture (T2T) generation, existing methods often yield subpar results, primarily due to local discontinuities, inconsistencies across multiple views, and their heavy dependence on UV unwrapping outcomes. To tackle these challenges, we propose a novel generation-refinement 3D texturing framework called MVPaint, which can generate high-resolution, seamless textures while emphasizing multi-view consistency. MVPaint mainly consists of three key modules. 1) Synchronized Multi-view Generation (SMG). Given a 3D mesh model, MVPaint first simultaneously generates multi-view images by employing an SMG model, which leads to coarse texturing results with unpainted parts due to missing observations. 2) Spatial-aware 3D Inpainting (S3I). To ensure complete 3D texturing, we introduce the S3I method, specifically designed to effectively texture previously unobserved areas. 3) UV Refinement (UVR). Furthermore, MVPaint employs a UVR module to improve the texture quality in the UV space, which first performs a UV-space Super-Resolution, followed by a Spatial-aware Seam-Smoothing algorithm for revising spatial texturing discontinuities caused by UV unwrapping. Moreover, we establish two T2T evaluation benchmarks: the Objaverse T2T benchmark and the GSO T2T benchmark, based on selected high-quality 3D meshes from the Objaverse dataset and the entire GSO dataset, respectively. Extensive experimental results demonstrate that MVPaint surpasses existing state-of-the-art methods. Notably, MVPaint could generate high-fidelity textures with minimal Janus issues and highly enhanced cross-view consistency.