OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
Overview
This research presents OASIS, a visuomotor policy that aligns intermediate representations with the action space through SE(3) end-effector trajectory prediction. By coupling a 3D-aware feature encoder with an SE(3) trajectory predictor, OASIS generates action chunks consistent with rigid-body motion. Experiments show it outperforms VLA and WAM baselines in success rate and out-of-distribution generalization across both simulation and real-world settings.
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- arXiv Robotics — research abstractsSignalOASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation
This research presents OASIS, a visuomotor policy that aligns intermediate representations with the action space through SE(3) end-effector trajectory prediction. By coupling a 3D-aware feature encoder with an SE(3) trajectory predictor, OASIS generates action chunks consistent with rigid-body motion. Experiments show it outperforms VLA and WAM baselines in success rate and out-of-distribution generalization across both simulation and real-world settings.
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