# GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ee7le3mhitysd2ylinxbe4gig
- Original: https://arxiv.org/abs/2606.13394

## Summary

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.