{"id":"https://openalex.org/W7154727195","doi":"https://doi.org/10.48550/arxiv.2604.15281","title":"R3D: Revisiting 3D Policy Learning","display_name":"R3D: Revisiting 3D Policy Learning","publication_year":2026,"publication_date":"2026-04-16","ids":{"openalex":"https://openalex.org/W7154727195","doi":"https://doi.org/10.48550/arxiv.2604.15281"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.15281","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15281","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.15281","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111274678","display_name":"Zhengdong Hong","orcid":"https://orcid.org/0009-0003-4678-340X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Hong, Zhengdong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013743204","display_name":"Shenrui Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Shenrui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133898390","display_name":"Haozhe Cui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cui, Haozhe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133880871","display_name":"Boyi Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Boyi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129981065","display_name":"Ran Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Ran","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101509531","display_name":"Yiyang He","orcid":"https://orcid.org/0000-0003-0583-0647"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Yiyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133887014","display_name":"Hangxing Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hangxing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133851292","display_name":"Zundong Ke","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ke, Zundong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133898723","display_name":"Jun Wang","orcid":"https://orcid.org/0009-0001-5163-8683"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133917911","display_name":"Guofeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Guofeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133904321","display_name":"Jiayuan Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Jiayuan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5111274678"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.6323000192642212,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.6323000192642212,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.09520000219345093,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.0697999969124794,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.703499972820282},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5210999846458435},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.36039999127388},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.3531999886035919},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.352400004863739},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.3312000036239624},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.33070001006126404},{"id":"https://openalex.org/keywords/training-set","display_name":"Training set","score":0.32850000262260437}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.703499972820282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5968000292778015},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5210999846458435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5178999900817871},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4855000078678131},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.36039999127388},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.352400004863739},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.33489999175071716},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.3312000036239624},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.33070001006126404},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.32850000262260437},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.32280001044273376},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.31459999084472656},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28859999775886536},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.2818000018596649},{"id":"https://openalex.org/C2989099063","wikidata":"https://www.wikidata.org/wiki/Q667334","display_name":"Learning design","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.2628999948501587},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.15281","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15281","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.15281","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15281","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"3D":[0,25,40,62,85,99],"policy":[1],"learning":[2],"promises":[3],"superior":[4],"generalization":[5],"and":[6,17,43,74,94],"cross-embodiment":[7],"transfer,":[8],"but":[9],"progress":[10],"has":[11],"been":[12],"hindered":[13],"by":[14],"training":[15],"instabilities":[16],"severe":[18],"overfitting,":[19],"precluding":[20],"the":[21,37,44],"adoption":[22],"of":[23,39,47],"powerful":[24],"perception":[26],"models.":[27],"In":[28],"this":[29],"work,":[30],"we":[31],"systematically":[32],"diagnose":[33],"these":[34],"failures,":[35],"identifying":[36],"omission":[38],"data":[41],"augmentation":[42],"adverse":[45],"effects":[46],"Batch":[48],"Normalization":[49],"as":[50],"primary":[51],"causes.":[52],"We":[53],"propose":[54],"a":[55,59,65,92],"new":[56,93],"architecture":[57],"coupling":[58],"scalable":[60,98],"transformer-based":[61],"encoder":[63],"with":[64],"diffusion":[66],"decoder,":[67],"engineered":[68],"specifically":[69],"for":[70,97],"stability":[71],"at":[72],"scale":[73],"designed":[75],"to":[76],"leverage":[77],"large-scale":[78],"pre-training.":[79],"Our":[80],"approach":[81],"significantly":[82],"outperforms":[83],"state-of-the-art":[84],"baselines":[86],"on":[87],"challenging":[88],"manipulation":[89],"benchmarks,":[90],"establishing":[91],"robust":[95],"foundation":[96],"imitation":[100],"learning.":[101],"Project":[102],"Page:":[103],"https://r3d-policy.github.io/":[104]},"counts_by_year":[],"updated_date":"2026-04-18T06:05:20.339008","created_date":"2026-04-18T00:00:00"}
