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Geometric Action Model for Robot Policy Learning

The Geometric Action Model (GAM) enables robot policies to reason about 3D physical interactions by repurposing a pretrained geometric foundation model. GAM splits the GFM to serve as both an observation encoder and a causal future predictor, then routes predicted future geometry and actions through the same backbone, achieving accurate, robust, and efficient manipulation performance in simulation and real-robot benchmarks.

arxiv arXiv cs.LG · 10d ago

Exact Posterior Score Estimation for Linear Inverse Problems

The paper derives the exact posterior score in closed form for linear Gaussian inverse problems, enabling efficient posterior sampling via denoising. It introduces Exact Posterior Score (EPS), a training objective that preserves pretraining structure and achieves superior performance on fidelity, perceptual, and distributional metrics with fewer denoiser evaluations than gradient-based methods.