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GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation

GeoHAT is an end-to-end diffusion policy framework that uses a lightweight Fourier spatial encoder to map per-pixel 3D coordinates into geometric tokens, then injects them into vision foundation model features via depth-validity-gated fusion, without requiring an additional 3D vision backbone.

Part of the event: GeoHAT Mobile Manipulation Diffusion Policy Paper Released

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